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

i would like to tell you to add pedestrian close to adversary? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20523"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20524"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20525"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20526"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20527"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20528"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20529"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20531"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20532"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20533"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20534"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20535"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20536"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20537"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20538"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20523"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.83371639251709" y="45.54730224609375" z="0.0030623243656009436"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20524"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-52.95441818237305" y="-6.631988048553467" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20525"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.2927008867263794" y="-73.9066390991211" z="0.03382305055856705"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20526"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.740694046020508" y="-161.00863647460938" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20527"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.7748018503189087" y="-153.45602416992188" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20528"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="91.85845947265625" y="-9.537659645080566" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20529"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="56.671348571777344" y="-32.886165618896484" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20531"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.8521597385406494" y="-65.42893981933594" z="0.033807601779699326"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20532"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.989611625671387" y="-59.10337448120117" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20533"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="76.34049987792969" y="-67.11459350585938" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20534"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="99.12498474121094" y="-30.732620239257812" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20535"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.898353576660156" y="-48.46818923950195" z="0.03376048803329468"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20536"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.505692958831787" y="-68.31234741210938" z="0.03385334089398384"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20537"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.51763916015625" y="28.486793518066406" z="0.00309379561804235"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20538"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.516324043273926" y="27.308542251586914" z="0.0030857848469167948"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20523"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20524"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20525"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20526"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20527"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20528"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20529"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20531"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20532"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20533"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20534"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20535"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20536"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20537"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20538"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20539"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20523"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.83371639251709" y="45.54730224609375" z="0.0030623243656009436"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20524"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-52.95441818237305" y="-6.631988048553467" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20525"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.2927008867263794" y="-73.9066390991211" z="0.03382305055856705"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20526"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.740694046020508" y="-161.00863647460938" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20527"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.7748018503189087" y="-153.45602416992188" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20528"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="91.85845947265625" y="-9.537659645080566" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20529"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="56.671348571777344" y="-32.886165618896484" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20531"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.8521597385406494" y="-65.42893981933594" z="0.033807601779699326"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20532"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.989611625671387" y="-59.10337448120117" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20533"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="76.34049987792969" y="-67.11459350585938" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20534"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="99.12498474121094" y="-30.732620239257812" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20535"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.898353576660156" y="-48.46818923950195" z="0.03376048803329468"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20536"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.505692958831787" y="-68.31234741210938" z="0.03385334089398384"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20537"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.51763916015625" y="28.486793518066406" z="0.00309379561804235"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20538"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.516324043273926" y="27.308542251586914" z="0.0030857848469167948"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20539"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.799957275390625" y="-66.73455047607422" z="0.03375030308961868"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to direct you to remove pedestrian actor named pedestrian_close_to_standing_6841? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6836"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6837"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6838"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6839"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6840"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6841"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6842"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6843"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6844"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6845"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6846"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6847"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6848"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6849"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6850"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6851"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6836"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.402114868164062" y="31.161130905151367" z="0.0030593108385801315"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6837"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-47.03334045410156" y="-54.702423095703125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6838"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-61.467132568359375" y="-34.886295318603516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6839"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.513595104217529" y="22.476049423217773" z="0.003063545096665621"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6840"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="32.467586517333984" y="-7.941018581390381" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6841"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.203702926635742" y="26.545644760131836" z="0.0030302810482680798"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6842"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.702733993530273" y="-70.92851257324219" z="0.03377971425652504"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6843"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.8897349834442139" y="21.91389274597168" z="0.003043708624318242"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6844"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.4053142070770264" y="27.412681579589844" z="0.003074913052842021"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6845"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="50.98201370239258" y="97.59428405761719" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6846"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.340560913085938" y="-64.19352722167969" z="0.03381290286779404"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6847"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.461357116699219" y="-142.86170959472656" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6848"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.087277889251709" y="-162.71827697753906" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6849"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-49.240257263183594" y="-23.65076446533203" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6850"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.156131267547607" y="29.986865997314453" z="0.0030739973299205303"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6851"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.639955520629883" y="-98.2626953125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6836"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6837"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6838"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6839"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6840"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6842"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6843"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6844"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6845"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6846"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6847"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6848"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6849"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6850"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6851"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6836"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.402114868164062" y="31.161130905151367" z="0.0030593108385801315"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6837"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-47.03334045410156" y="-54.702423095703125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6838"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-61.467132568359375" y="-34.886295318603516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6839"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.513595104217529" y="22.476049423217773" z="0.003063545096665621"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6840"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="32.467586517333984" y="-7.941018581390381" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6842"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.702733993530273" y="-70.92851257324219" z="0.03377971425652504"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6843"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.8897349834442139" y="21.91389274597168" z="0.003043708624318242"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6844"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.4053142070770264" y="27.412681579589844" z="0.003074913052842021"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6845"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="50.98201370239258" y="97.59428405761719" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6846"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.340560913085938" y="-64.19352722167969" z="0.03381290286779404"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6847"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.461357116699219" y="-142.86170959472656" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6848"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.087277889251709" y="-162.71827697753906" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6849"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-49.240257263183594" y="-23.65076446533203" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6850"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.156131267547607" y="29.986865997314453" z="0.0030739973299205303"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6851"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.639955520629883" y="-98.2626953125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <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 (89.59, 57.21, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_12297"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_12298"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_12299"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12301"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_12302"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12303"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_12297"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.33609390258789" y="26.93761444091797" z="0.0030745314434170723"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_12298"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.707082748413086" y="-70.04117584228516" z="0.033769529312849045"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_12299"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.148711204528809" y="-144.76144409179688" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12301"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="92.92973327636719" y="19.267776489257812" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_12302"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.396712303161621" y="-159.2335662841797" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12303"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="64.17159271240234" y="-48.45207595825195" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_12297"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_12298"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_12299"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12301"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_12302"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12303"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12304"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_12297"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.33609390258789" y="26.93761444091797" z="0.0030745314434170723"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_12298"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.707082748413086" y="-70.04117584228516" z="0.033769529312849045"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_12299"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.148711204528809" y="-144.76144409179688" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12301"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="92.92973327636719" y="19.267776489257812" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_12302"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.396712303161621" y="-159.2335662841797" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12303"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="64.17159271240234" y="-48.45207595825195" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12304"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="89.5869369506836" y="57.20802307128906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to tell you to remove pedestrian close to adversary? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16441"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16442"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16443"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16445"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16447"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16448"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16453"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16457"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16458"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16459"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16461"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16464"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16465"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16441"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.5906400680542" y="-65.11376190185547" z="0.0337865836918354"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16442"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-50.01038360595703" y="-3.7076666355133057" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16443"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="14.948123931884766" y="-1.4807522296905518" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16445"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-50.963233947753906" y="32.14585876464844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16447"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.904973983764648" y="19.998001098632812" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16448"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="93.71880340576172" y="97.8248291015625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16453"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-39.468196868896484" y="-52.4818229675293" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16457"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.961392402648926" y="92.05841064453125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16458"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="27.095304489135742" y="6.8853631019592285" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16459"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-67.74207305908203" y="6.14433479309082" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16461"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-67.84454345703125" y="0.9140769243240356" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16464"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.949399948120117" y="-168.47193908691406" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16465"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-48.28303909301758" y="57.76378631591797" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="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_16442"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16443"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16445"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16447"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16448"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16453"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16457"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16458"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16459"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16461"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16464"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16465"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="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_16442"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-50.01038360595703" y="-3.7076666355133057" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16443"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="14.948123931884766" y="-1.4807522296905518" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16445"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-50.963233947753906" y="32.14585876464844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16447"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.904973983764648" y="19.998001098632812" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16448"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="93.71880340576172" y="97.8248291015625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16453"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-39.468196868896484" y="-52.4818229675293" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16457"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.961392402648926" y="92.05841064453125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16458"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="27.095304489135742" y="6.8853631019592285" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16459"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-67.74207305908203" y="6.14433479309082" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16461"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-67.84454345703125" y="0.9140769243240356" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16464"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.949399948120117" y="-168.47193908691406" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16465"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-48.28303909301758" y="57.76378631591797" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="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_1436? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1428"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1429"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1430"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1431"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1432"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1433"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1434"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1435"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1436"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1437"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1438"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1439"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1440"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1441"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1442"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1443"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1444"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1446"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1448"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1449"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1450"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1451"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1452"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1453"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1454"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1428"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.122293472290039" y="32.64136505126953" z="0.0030724334064871073"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1429"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-48.60940170288086" y="-15.077340126037598" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1430"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.88655662536621" y="-62.78667068481445" z="0.0338217169046402"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1431"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-84.88829040527344" y="15.925444602966309" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1432"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.925124645233154" y="20.399816513061523" z="0.0030601881444454193"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1433"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.446807384490967" y="-147.3627166748047" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1434"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.820474624633789" y="-155.59156799316406" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1435"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.3439050912857056" y="-73.2201156616211" z="0.03375835344195366"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1436"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-71.42605590820312" y="87.83773040771484" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1437"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.813340187072754" y="-77.7220230102539" z="0.03376811742782593"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1438"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="70.4785385131836" y="6.395418643951416" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1439"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.941143035888672" y="21.064363479614258" z="0.003021507291123271"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1440"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-78.46907806396484" y="-69.24934387207031" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1441"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-88.00617218017578" y="53.21859359741211" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1442"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.475616455078125" y="25.492605209350586" z="0.0031141662038862705"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1443"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.4236860275268555" y="-143.6433868408203" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1444"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.24622631072998047" y="20.343311309814453" z="0.003076858352869749"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1446"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.486160278320312" y="-148.99143981933594" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1448"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.715831756591797" y="28.99911117553711" z="0.0030546188354492188"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1449"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-95.0016098022461" y="-64.28878021240234" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1450"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.702978134155273" y="-51.86635971069336" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1451"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.196196556091309" y="-65.88027954101562" z="0.033751945942640305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1452"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.055585861206055" y="-147.55233764648438" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1453"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.345553398132324" y="-79.23837280273438" z="0.03376148268580437"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1454"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.707621097564697" y="33.53211975097656" z="0.0030210495460778475"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1428"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1429"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1430"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1431"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1432"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1433"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1434"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1435"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1437"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1438"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1439"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1440"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1441"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1442"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1443"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1444"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1446"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1448"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1449"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1450"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1451"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1452"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1453"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1454"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1428"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.122293472290039" y="32.64136505126953" z="0.0030724334064871073"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1429"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-48.60940170288086" y="-15.077340126037598" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1430"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.88655662536621" y="-62.78667068481445" z="0.0338217169046402"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1431"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-84.88829040527344" y="15.925444602966309" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1432"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.925124645233154" y="20.399816513061523" z="0.0030601881444454193"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1433"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.446807384490967" y="-147.3627166748047" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1434"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.820474624633789" y="-155.59156799316406" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1435"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.3439050912857056" y="-73.2201156616211" z="0.03375835344195366"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1437"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.813340187072754" y="-77.7220230102539" z="0.03376811742782593"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1438"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="70.4785385131836" y="6.395418643951416" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1439"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.941143035888672" y="21.064363479614258" z="0.003021507291123271"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1440"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-78.46907806396484" y="-69.24934387207031" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1441"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-88.00617218017578" y="53.21859359741211" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1442"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.475616455078125" y="25.492605209350586" z="0.0031141662038862705"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1443"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.4236860275268555" y="-143.6433868408203" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1444"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.24622631072998047" y="20.343311309814453" z="0.003076858352869749"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1446"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.486160278320312" y="-148.99143981933594" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1448"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.715831756591797" y="28.99911117553711" z="0.0030546188354492188"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1449"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-95.0016098022461" y="-64.28878021240234" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1450"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.702978134155273" y="-51.86635971069336" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1451"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.196196556091309" y="-65.88027954101562" z="0.033751945942640305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1452"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.055585861206055" y="-147.55233764648438" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1453"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.345553398132324" y="-79.23837280273438" z="0.03376148268580437"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1454"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.707621097564697" y="33.53211975097656" z="0.0030210495460778475"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to guide you to remove pedestrian actor named pedestrian_w_transform_22144? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="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_22137"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22140"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22142"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22143"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22144"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22145"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22149"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22153"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22160"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="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_22137"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-37.609954833984375" y="30.459104537963867" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22140"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-52.536529541015625" y="-0.8629797101020813" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22142"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="71.3051528930664" y="-70.84683227539062" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22143"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-51.22466278076172" y="-96.53408813476562" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22144"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="38.01337432861328" y="-39.60610580444336" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22145"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-52.61628341674805" y="19.20211410522461" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22149"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.611807346343994" y="11.389113426208496" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22153"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="41.92426681518555" y="-55.55232620239258" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22160"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="24.320585250854492" y="-81.42027282714844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="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_22137"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22140"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22142"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22143"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22145"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22149"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22153"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22160"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="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_22137"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-37.609954833984375" y="30.459104537963867" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22140"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-52.536529541015625" y="-0.8629797101020813" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22142"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="71.3051528930664" y="-70.84683227539062" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22143"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-51.22466278076172" y="-96.53408813476562" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22145"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-52.61628341674805" y="19.20211410522461" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22149"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.611807346343994" y="11.389113426208496" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22153"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="41.92426681518555" y="-55.55232620239258" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22160"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="24.320585250854492" y="-81.42027282714844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to tell you to remove pedestrian actor named pedestrian_close_to_adversary_1679? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1665"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1666"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1669"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1670"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1671"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1673"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1675"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1676"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1677"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1678"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1679"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1680"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1665"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.16741943359375" y="-143.3728790283203" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1666"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.244321823120117" y="6.813855171203613" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1669"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.5380749702453613" y="38.37723159790039" z="0.0030453491490334272"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1670"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.234018325805664" y="-80.20598602294922" z="0.03383922576904297"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1671"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.123958110809326" y="-66.28836059570312" z="0.03385860472917557"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1673"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.458345651626587" y="-78.12975311279297" z="0.03382667526602745"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1675"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.47118425369262695" y="-66.10186004638672" z="0.03380821272730827"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1676"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.84487247467041" y="34.59244918823242" z="0.0030657576862722635"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1677"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.074926376342773" y="-66.41523742675781" z="0.033785130828619"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1678"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.237995624542236" y="-74.48140716552734" z="0.03378917649388313"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1679"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.800691604614258" y="-78.2766342163086" z="0.03372470661997795"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1680"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.507823944091797" y="-80.13819885253906" z="0.0337594598531723"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1665"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1666"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1669"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1670"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1671"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1673"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1675"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1676"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1677"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1678"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1680"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1665"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.16741943359375" y="-143.3728790283203" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1666"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.244321823120117" y="6.813855171203613" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1669"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.5380749702453613" y="38.37723159790039" z="0.0030453491490334272"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1670"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.234018325805664" y="-80.20598602294922" z="0.03383922576904297"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1671"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.123958110809326" y="-66.28836059570312" z="0.03385860472917557"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1673"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.458345651626587" y="-78.12975311279297" z="0.03382667526602745"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1675"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.47118425369262695" y="-66.10186004638672" z="0.03380821272730827"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1676"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.84487247467041" y="34.59244918823242" z="0.0030657576862722635"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1677"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.074926376342773" y="-66.41523742675781" z="0.033785130828619"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1678"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.237995624542236" y="-74.48140716552734" z="0.03378917649388313"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1680"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.507823944091797" y="-80.13819885253906" z="0.0337594598531723"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

would you add pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20715"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20716"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20717"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20718"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20719"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20720"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20721"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20722"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20723"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20724"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20715"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.5192580223083496" y="-147.49887084960938" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20716"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-78.11273956298828" y="97.04907989501953" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20717"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.7528504133224487" y="33.112972259521484" z="0.003052024869248271"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20718"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.40837860107422" y="57.188629150390625" z="0.0030379865784198046"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20719"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="91.33269500732422" y="-77.98341369628906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20720"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="83.7052993774414" y="5.173845291137695" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20721"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="85.84074401855469" y="27.701005935668945" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20722"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.411602020263672" y="-71.54778289794922" z="0.03376438096165657"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20723"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.552695393562317" y="-62.94157791137695" z="0.033787801861763"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20724"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="10.447891235351562" y="-41.78814697265625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20715"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20716"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20717"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20718"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20719"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20720"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20721"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20722"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20723"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20724"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20725"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20715"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.5192580223083496" y="-147.49887084960938" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20716"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-78.11273956298828" y="97.04907989501953" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20717"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.7528504133224487" y="33.112972259521484" z="0.003052024869248271"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20718"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.40837860107422" y="57.188629150390625" z="0.0030379865784198046"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20719"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="91.33269500732422" y="-77.98341369628906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20720"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="83.7052993774414" y="5.173845291137695" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20721"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="85.84074401855469" y="27.701005935668945" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20722"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.411602020263672" y="-71.54778289794922" z="0.03376438096165657"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20723"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.552695393562317" y="-62.94157791137695" z="0.033787801861763"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20724"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="10.447891235351562" y="-41.78814697265625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20725"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.893717765808105" y="-158.0679473876953" 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 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_559"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_559"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.536955833435059" y="47.126556396484375" z="0.00307884206995368"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to request you to add pedestrian at location (-87.49, -47.8, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8162"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8163"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8164"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_8165"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8166"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8167"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8168"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8169"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8162"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.94816780090332" y="-71.38423156738281" z="0.03378288075327873"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8163"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.94067907333374" y="-72.64798736572266" z="0.033805008977651596"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8164"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="58.8964729309082" y="-12.97342300415039" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_8165"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.065343856811523" y="29.145322799682617" z="0.003064460586756468"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8166"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="89.52799987792969" y="-54.007266998291016" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8167"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.045821189880371" y="-78.28306579589844" z="0.033843230456113815"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8168"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.369781494140625" y="-75.36217498779297" z="0.033836327493190765"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8169"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.4985896348953247" y="-71.81517791748047" z="0.03384010121226311"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8162"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8163"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8164"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_8165"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8166"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8167"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8168"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8169"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8171"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8162"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.94816780090332" y="-71.38423156738281" z="0.03378288075327873"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8163"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.94067907333374" y="-72.64798736572266" z="0.033805008977651596"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8164"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="58.8964729309082" y="-12.97342300415039" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_8165"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.065343856811523" y="29.145322799682617" z="0.003064460586756468"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8166"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="89.52799987792969" y="-54.007266998291016" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8167"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.045821189880371" y="-78.28306579589844" z="0.033843230456113815"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8168"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.369781494140625" y="-75.36217498779297" z="0.033836327493190765"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8169"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.4985896348953247" y="-71.81517791748047" z="0.03384010121226311"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8171"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-87.48719024658203" y="-47.80463790893555" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

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

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_23397"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23397"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.329520225524902" y="-74.06959533691406" z="0.033808402717113495"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like you to demonstrate remove pedestrian actor named pedestrian_w_transform_16526? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="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_16526"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16531"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16532"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16537"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16538"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16539"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16540"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16546"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16526"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="22.614187240600586" y="-72.48670959472656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16531"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="29.406417846679688" y="60.85746765136719" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16532"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="22.153173446655273" y="36.562644958496094" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16537"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.98411750793457" y="70.2686767578125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16538"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="47.507320404052734" y="49.581844329833984" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16539"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.57927131652832" y="-147.9185333251953" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16540"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-99.46211242675781" y="-8.068331718444824" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16546"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="98.53455352783203" y="-38.76490020751953" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="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_16531"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16532"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16537"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16538"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16539"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16540"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16546"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16531"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="29.406417846679688" y="60.85746765136719" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16532"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="22.153173446655273" y="36.562644958496094" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16537"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.98411750793457" y="70.2686767578125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16538"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="47.507320404052734" y="49.581844329833984" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16539"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.57927131652832" y="-147.9185333251953" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16540"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-99.46211242675781" y="-8.068331718444824" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16546"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="98.53455352783203" y="-38.76490020751953" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like you to demonstrate add pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_15658"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_15659"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_15660"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_15661"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_15658"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.54853630065918" y="-83.35480499267578" z="0.03379920870065689"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_15659"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.588904857635498" y="-55.94221115112305" z="0.03379039838910103"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_15660"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-48.570369720458984" y="-22.024303436279297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_15661"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.22754591703414917" y="37.7960319519043" z="0.0030754089821130037"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_15658"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_15659"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_15660"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_15661"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_15662"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_15658"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.54853630065918" y="-83.35480499267578" z="0.03379920870065689"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_15659"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.588904857635498" y="-55.94221115112305" z="0.03379039838910103"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_15660"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-48.570369720458984" y="-22.024303436279297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_15661"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.22754591703414917" y="37.7960319519043" z="0.0030754089821130037"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_15662"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.209731101989746" y="-145.21876525878906" 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 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_22519"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22520"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22521"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22522"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22523"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22524"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22525"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22526"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22527"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22528"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22529"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22530"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22519"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.89242172241211" y="-150.57359313964844" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22520"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.6887760162353516" y="24.98921012878418" z="0.0030427169986069202"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22521"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-49.728885650634766" y="83.95198822021484" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22522"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="38.245609283447266" y="31.259117126464844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22523"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.430450439453125" y="-70.49507904052734" z="0.03378421813249588"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22524"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="93.44344329833984" y="99.2864761352539" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22525"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.9759334325790405" y="-143.13543701171875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22526"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.130645751953125" y="-155.73800659179688" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22527"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-53.59982681274414" y="-13.338973999023438" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22528"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.743491172790527" y="-84.67556762695312" z="0.03380199521780014"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22529"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.861812591552734" y="-79.6469497680664" z="0.03375415876507759"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22530"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.3363996744155884" y="-73.6883773803711" z="0.033825796097517014"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22519"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22520"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22521"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22522"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22523"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22524"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22525"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22526"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22527"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22528"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22529"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22530"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22531"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22519"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.89242172241211" y="-150.57359313964844" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22520"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.6887760162353516" y="24.98921012878418" z="0.0030427169986069202"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22521"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-49.728885650634766" y="83.95198822021484" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22522"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="38.245609283447266" y="31.259117126464844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22523"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.430450439453125" y="-70.49507904052734" z="0.03378421813249588"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22524"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="93.44344329833984" y="99.2864761352539" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22525"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.9759334325790405" y="-143.13543701171875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22526"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.130645751953125" y="-155.73800659179688" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22527"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-53.59982681274414" y="-13.338973999023438" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22528"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.743491172790527" y="-84.67556762695312" z="0.03380199521780014"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22529"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.861812591552734" y="-79.6469497680664" z="0.03375415876507759"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22530"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.3363996744155884" y="-73.6883773803711" z="0.033825796097517014"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22531"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.400171279907227" y="-64.5252685546875" z="0.033773649483919144"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to instruct you to remove pedestrian actor named pedestrian_w_transform_8690? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_8682"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8683"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_8685"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8686"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8690"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8695"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_8696"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_8698"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8699"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_8700"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8703"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_8704"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_8682"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.621360778808594" y="25.79999351501465" z="0.003048972925171256"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8683"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.579686164855957" y="65.44987487792969" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_8685"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.277824401855469" y="-143.6973114013672" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8686"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-74.76905059814453" y="-98.14622497558594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8690"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.37281322479248" y="50.710601806640625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8695"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="90.54771423339844" y="-51.61518096923828" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_8696"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.976693630218506" y="27.25460433959961" z="0.0030252838041633368"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_8698"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="6.5625176429748535" y="26.107906341552734" z="0.003075675806030631"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8699"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.690387725830078" y="30.78071403503418" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_8700"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="9.021777153015137" y="-158.54684448242188" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8703"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-73.22439575195312" y="-48.41783905029297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_8704"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.45839500427246" y="-160.34451293945312" 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_8682"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8683"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_8685"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8686"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8695"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_8696"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_8698"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8699"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_8700"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8703"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_8704"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_8682"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.621360778808594" y="25.79999351501465" z="0.003048972925171256"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8683"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.579686164855957" y="65.44987487792969" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_8685"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.277824401855469" y="-143.6973114013672" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8686"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-74.76905059814453" y="-98.14622497558594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8695"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="90.54771423339844" y="-51.61518096923828" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_8696"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.976693630218506" y="27.25460433959961" z="0.0030252838041633368"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_8698"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="6.5625176429748535" y="26.107906341552734" z="0.003075675806030631"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8699"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.690387725830078" y="30.78071403503418" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_8700"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="9.021777153015137" y="-158.54684448242188" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8703"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-73.22439575195312" y="-48.41783905029297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_8704"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.45839500427246" y="-160.34451293945312" 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 at location (97.0, 98.58, 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_hero_10216"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10217"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10218"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10219"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10220"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10222"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_10223"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10224"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10225"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_10226"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_10216"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.172023296356201" y="-162.30908203125" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10217"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="15.256956100463867" y="18.88723373413086" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10218"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.752120018005371" y="30.143108367919922" z="0.003073730506002903"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10219"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.520284652709961" y="23.11257553100586" z="0.00310764298774302"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10220"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.854673862457275" y="-79.64839935302734" z="0.03379497304558754"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10222"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="12.226881980895996" y="-94.88873291015625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_10223"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.319058418273926" y="-144.61849975585938" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10224"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="12.540214538574219" y="27.04239273071289" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10225"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-50.38613510131836" y="24.131694793701172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_10226"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.923914909362793" y="-159.04299926757812" 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_10216"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10217"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10218"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10219"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10220"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10222"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_10223"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10224"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10225"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_10226"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10227"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_10216"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.172023296356201" y="-162.30908203125" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10217"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="15.256956100463867" y="18.88723373413086" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10218"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.752120018005371" y="30.143108367919922" z="0.003073730506002903"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10219"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.520284652709961" y="23.11257553100586" z="0.00310764298774302"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10220"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.854673862457275" y="-79.64839935302734" z="0.03379497304558754"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10222"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="12.226881980895996" y="-94.88873291015625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_10223"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.319058418273926" y="-144.61849975585938" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10224"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="12.540214538574219" y="27.04239273071289" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10225"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-50.38613510131836" y="24.131694793701172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_10226"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.923914909362793" y="-159.04299926757812" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10227"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="96.99706268310547" y="98.57981872558594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="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_11039"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11040"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11041"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11042"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11043"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_11044"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11045"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11046"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_11047"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11048"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_11049"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11050"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_11051"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11052"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_11053"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11054"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_11055"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11056"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11057"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_11058"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_11039"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.814459800720215" y="29.979740142822266" z="0.003067665034905076"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11040"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-70.74288177490234" y="19.577713012695312" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11041"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.498093605041504" y="-66.82120513916016" z="0.03379695862531662"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11042"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-97.93362426757812" y="95.64647674560547" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11043"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.097579956054688" y="-72.58831024169922" z="0.033752936869859695"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_11044"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.380196571350098" y="37.74104309082031" z="0.0030332563910633326"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11045"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.217207908630371" y="-66.2680892944336" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11046"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.9119083881378174" y="35.95769500732422" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_11047"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.171412944793701" y="-147.69276428222656" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11048"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="66.08917236328125" y="70.679443359375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_11049"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.671664237976074" y="32.55758285522461" z="0.0030158613808453083"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11050"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-72.2689437866211" y="51.42644500732422" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_11051"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.052569389343262" y="-160.77252197265625" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11052"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-82.82825469970703" y="45.45631408691406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_11053"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.790274620056152" y="27.11678695678711" z="0.0030541610904037952"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11054"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.7432804107666" y="-74.81427764892578" z="0.033835869282484055"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_11055"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.1052045822143555" y="20.46753692626953" z="0.0030679702758789062"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11056"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.2423514872789383" y="-67.85704803466797" z="0.033747024834156036"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11057"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-83.55985260009766" y="-7.996664524078369" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_11058"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.745430946350098" y="18.042255401611328" z="0.003069991944357753"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_11039"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11040"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11041"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11042"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11043"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_11044"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11045"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11046"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_11047"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11048"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_11049"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11050"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_11051"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11052"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_11053"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11054"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_11055"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11056"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11057"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_11058"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_11059"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_11039"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.814459800720215" y="29.979740142822266" z="0.003067665034905076"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11040"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-70.74288177490234" y="19.577713012695312" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11041"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.498093605041504" y="-66.82120513916016" z="0.03379695862531662"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11042"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-97.93362426757812" y="95.64647674560547" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11043"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.097579956054688" y="-72.58831024169922" z="0.033752936869859695"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_11044"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.380196571350098" y="37.74104309082031" z="0.0030332563910633326"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11045"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.217207908630371" y="-66.2680892944336" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11046"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.9119083881378174" y="35.95769500732422" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_11047"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.171412944793701" y="-147.69276428222656" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11048"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="66.08917236328125" y="70.679443359375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_11049"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.671664237976074" y="32.55758285522461" z="0.0030158613808453083"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11050"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-72.2689437866211" y="51.42644500732422" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_11051"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.052569389343262" y="-160.77252197265625" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11052"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-82.82825469970703" y="45.45631408691406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_11053"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.790274620056152" y="27.11678695678711" z="0.0030541610904037952"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11054"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.7432804107666" y="-74.81427764892578" z="0.033835869282484055"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_11055"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.1052045822143555" y="20.46753692626953" z="0.0030679702758789062"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11056"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.2423514872789383" y="-67.85704803466797" z="0.033747024834156036"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11057"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-83.55985260009766" y="-7.996664524078369" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_11058"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.745430946350098" y="18.042255401611328" z="0.003069991944357753"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_11059"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.660301208496094" y="-157.769287109375" 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 (-63.03, 68.08, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_15883"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_15884"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_15885"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_15886"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_15887"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_15883"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.570415019989014" y="-78.85890197753906" z="0.03381805494427681"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_15884"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.252690315246582" y="34.69678497314453" z="0.0030498122796416283"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_15885"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.4730466604232788" y="-66.87938690185547" z="0.03376838564872742"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_15886"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="36.64472579956055" y="-83.13980865478516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_15887"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="12.034049034118652" y="23.51308250427246" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_15883"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_15884"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_15885"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_15886"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_15887"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_15888"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_15883"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.570415019989014" y="-78.85890197753906" z="0.03381805494427681"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_15884"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.252690315246582" y="34.69678497314453" z="0.0030498122796416283"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_15885"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.4730466604232788" y="-66.87938690185547" z="0.03376838564872742"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_15886"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="36.64472579956055" y="-83.13980865478516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_15887"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="12.034049034118652" y="23.51308250427246" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_15888"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-63.034542083740234" y="68.08202362060547" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

can you add pedestrian at location (52.62, 49.37, 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_7987"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7988"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_7989"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7990"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7992"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7993"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_7994"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7995"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_7996"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_7987"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-0.938453197479248" y="37.59816360473633" z="0.0030257797334343195"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7988"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="94.66515350341797" y="-44.21315002441406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_7989"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.599411010742188" y="38.22566223144531" z="0.0030508802738040686"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7990"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="45.931339263916016" y="96.90396881103516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7992"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-96.44129180908203" y="-65.56558990478516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7993"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.5057897567749023" y="-76.17211151123047" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_7994"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.9201733469963074" y="35.678165435791016" z="0.0030686568934470415"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7995"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="77.90992736816406" y="84.02161407470703" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_7996"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.100004196166992" y="-156.8885040283203" 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_7987"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7988"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_7989"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7990"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7992"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7993"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_7994"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7995"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_7996"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7997"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_7987"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-0.938453197479248" y="37.59816360473633" z="0.0030257797334343195"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7988"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="94.66515350341797" y="-44.21315002441406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_7989"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.599411010742188" y="38.22566223144531" z="0.0030508802738040686"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7990"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="45.931339263916016" y="96.90396881103516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7992"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-96.44129180908203" y="-65.56558990478516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7993"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.5057897567749023" y="-76.17211151123047" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_7994"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.9201733469963074" y="35.678165435791016" z="0.0030686568934470415"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7995"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="77.90992736816406" y="84.02161407470703" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_7996"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.100004196166992" y="-156.8885040283203" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7997"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="52.61909103393555" y="49.36585235595703" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="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 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_18783"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18784"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18785"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18786"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18787"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18788"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18790"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18793"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18794"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18795"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18796"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18797"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18798"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18799"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18800"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18801"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18802"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18803"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18804"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18805"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18806"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18807"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18808"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18810"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18811"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18812"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18783"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.040445327758789" y="29.104463577270508" z="0.0030327225103974342"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18784"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.3718585968017578" y="-145.1729736328125" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18785"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.358779430389404" y="-153.37644958496094" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18786"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.192493438720703" y="-61.72678756713867" z="0.03378051519393921"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18787"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="59.399723052978516" y="29.6578369140625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18788"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.159366607666016" y="22.052207946777344" z="0.0030932617373764515"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18790"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="86.20519256591797" y="92.31375122070312" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18793"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.300752639770508" y="-7.507255554199219" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18794"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.35729217529297" y="27.551774978637695" z="0.0030933760572224855"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18795"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.113612651824951" y="-78.0096435546875" z="0.033778801560401917"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18796"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-72.80442810058594" y="-2.662932872772217" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18797"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-68.0533447265625" y="-9.813573837280273" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18798"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="99.5135498046875" y="17.19751739501953" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18799"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-33.57579040527344" y="-27.197111129760742" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18800"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="24.263343811035156" y="56.24028778076172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18801"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="39.95489501953125" y="-32.43004608154297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18802"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="16.93377113342285" y="64.76854705810547" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18803"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.2799248695373535" y="-159.04806518554688" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18804"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-70.50873565673828" y="-50.20564270019531" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18805"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.7371997833251953" y="24.726587295532227" z="0.0030419158283621073"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18806"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-30.970409393310547" y="26.063356399536133" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18807"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.207763671875" y="24.721210479736328" z="0.003045158227905631"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18808"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.074639320373535" y="25.449832916259766" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18810"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.0333386659622192" y="33.094146728515625" z="0.003099975408986211"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18811"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-53.02824020385742" y="-4.1296539306640625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18812"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-72.11091613769531" y="-70.70156860351562" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18783"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18784"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18785"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18786"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18787"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18788"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18790"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18793"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18794"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18795"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18796"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18797"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18798"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18799"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18800"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18801"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18802"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18804"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18805"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18806"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18807"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18808"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18810"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18811"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18812"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18783"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.040445327758789" y="29.104463577270508" z="0.0030327225103974342"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18784"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.3718585968017578" y="-145.1729736328125" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18785"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.358779430389404" y="-153.37644958496094" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18786"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.192493438720703" y="-61.72678756713867" z="0.03378051519393921"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18787"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="59.399723052978516" y="29.6578369140625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18788"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.159366607666016" y="22.052207946777344" z="0.0030932617373764515"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18790"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="86.20519256591797" y="92.31375122070312" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18793"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.300752639770508" y="-7.507255554199219" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18794"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.35729217529297" y="27.551774978637695" z="0.0030933760572224855"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18795"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.113612651824951" y="-78.0096435546875" z="0.033778801560401917"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18796"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-72.80442810058594" y="-2.662932872772217" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18797"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-68.0533447265625" y="-9.813573837280273" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18798"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="99.5135498046875" y="17.19751739501953" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18799"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-33.57579040527344" y="-27.197111129760742" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18800"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="24.263343811035156" y="56.24028778076172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18801"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="39.95489501953125" y="-32.43004608154297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18802"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="16.93377113342285" y="64.76854705810547" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18804"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-70.50873565673828" y="-50.20564270019531" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18805"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.7371997833251953" y="24.726587295532227" z="0.0030419158283621073"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18806"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-30.970409393310547" y="26.063356399536133" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18807"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.207763671875" y="24.721210479736328" z="0.003045158227905631"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18808"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.074639320373535" y="25.449832916259766" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18810"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.0333386659622192" y="33.094146728515625" z="0.003099975408986211"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18811"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-53.02824020385742" y="-4.1296539306640625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18812"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-72.11091613769531" y="-70.70156860351562" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like you to add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19759"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19760"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19761"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19762"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19763"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19764"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19766"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19767"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19768"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19769"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19770"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19771"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19772"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19759"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.055754661560059" y="-78.89862060546875" z="0.03379535675048828"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19760"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-43.717498779296875" y="37.75395965576172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19761"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.137469291687012" y="25.436731338500977" z="0.0030725097749382257"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19762"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="11.101455688476562" y="-52.65924835205078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19763"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="91.58036804199219" y="-9.101591110229492" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19764"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.575933456420898" y="28.559146881103516" z="0.0030446622986346483"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19766"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.298063278198242" y="32.493568420410156" z="0.0030298233032226562"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19767"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-31.324186325073242" y="-64.35611724853516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19768"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.835376262664795" y="30.835052490234375" z="0.0030355071648955345"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19769"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="21.47834014892578" y="86.07220458984375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19770"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.773862838745117" y="-155.9801025390625" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19771"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.419486999511719" y="-158.9396514892578" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19772"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.864666938781738" y="-145.8289337158203" 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_19759"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19760"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19761"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19762"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19763"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19764"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19766"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19767"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19768"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19769"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19770"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19771"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19772"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19773"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19759"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.055754661560059" y="-78.89862060546875" z="0.03379535675048828"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19760"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-43.717498779296875" y="37.75395965576172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19761"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.137469291687012" y="25.436731338500977" z="0.0030725097749382257"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19762"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="11.101455688476562" y="-52.65924835205078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19763"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="91.58036804199219" y="-9.101591110229492" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19764"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.575933456420898" y="28.559146881103516" z="0.0030446622986346483"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19766"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.298063278198242" y="32.493568420410156" z="0.0030298233032226562"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19767"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-31.324186325073242" y="-64.35611724853516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19768"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.835376262664795" y="30.835052490234375" z="0.0030355071648955345"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19769"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="21.47834014892578" y="86.07220458984375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19770"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.773862838745117" y="-155.9801025390625" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19771"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.419486999511719" y="-158.9396514892578" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19772"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.864666938781738" y="-145.8289337158203" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19773"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.613547325134277" y="22.81864356994629" z="0.0030302046798169613"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to direct you to remove pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23512"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_23514"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23515"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23516"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23517"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23518"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23519"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23520"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23521"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23522"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23524"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23512"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.39019250869751" y="23.03482437133789" z="0.0030531310476362705"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23514"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.668442249298096" y="-61.988685607910156" z="0.03380828723311424"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23515"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.074004173278809" y="-158.21788024902344" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23516"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-48.919578552246094" y="-69.15641784667969" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23517"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.855822563171387" y="-32.419429779052734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23518"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="43.15119934082031" y="-41.073795318603516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23519"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.106037139892578" y="22.945802688598633" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23520"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="55.868648529052734" y="-4.981858730316162" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23521"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.1998679637908936" y="4.548914909362793" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23522"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="3.2751004695892334" y="-10.182999610900879" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23524"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-77.28993225097656" y="47.91797637939453" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_23514"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23515"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23516"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23517"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23518"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23519"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23520"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23521"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23522"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23524"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23514"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.668442249298096" y="-61.988685607910156" z="0.03380828723311424"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23515"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.074004173278809" y="-158.21788024902344" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23516"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-48.919578552246094" y="-69.15641784667969" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23517"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.855822563171387" y="-32.419429779052734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23518"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="43.15119934082031" y="-41.073795318603516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23519"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.106037139892578" y="22.945802688598633" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23520"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="55.868648529052734" y="-4.981858730316162" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23521"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.1998679637908936" y="4.548914909362793" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23522"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="3.2751004695892334" y="-10.182999610900879" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23524"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-77.28993225097656" y="47.91797637939453" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </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 (-8.72, -13.16, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6172"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6173"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6174"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6175"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6176"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6177"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6178"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6179"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6180"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6181"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6182"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6172"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.510947227478027" y="-76.79267883300781" z="0.03380153700709343"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6173"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-43.57192611694336" y="-17.102052688598633" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6174"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.8474440574646" y="-158.64903259277344" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6175"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.851598739624023" y="-73.03308868408203" z="0.03382827714085579"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6176"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-42.01029586791992" y="21.40192222595215" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6177"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="61.429561614990234" y="-98.295166015625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6178"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.2387934923171997" y="-155.2738494873047" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6179"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="44.410545349121094" y="53.63604736328125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6180"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.30340003967285" y="36.1705207824707" z="0.003026084741577506"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6181"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="54.24959945678711" y="5.857203960418701" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6182"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="19.168493270874023" y="-11.992866516113281" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6172"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6173"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6174"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6175"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6176"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6177"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6178"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6179"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6180"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6181"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6182"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6183"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6172"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.510947227478027" y="-76.79267883300781" z="0.03380153700709343"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6173"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-43.57192611694336" y="-17.102052688598633" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6174"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.8474440574646" y="-158.64903259277344" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6175"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.851598739624023" y="-73.03308868408203" z="0.03382827714085579"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6176"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-42.01029586791992" y="21.40192222595215" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6177"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="61.429561614990234" y="-98.295166015625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6178"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.2387934923171997" y="-155.2738494873047" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6179"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="44.410545349121094" y="53.63604736328125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6180"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.30340003967285" y="36.1705207824707" z="0.003026084741577506"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6181"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="54.24959945678711" y="5.857203960418701" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6182"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="19.168493270874023" y="-11.992866516113281" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6183"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.722126960754395" y="-13.156572341918945" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="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_16031"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16033"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16034"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16035"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16036"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16037"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16038"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16039"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16040"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16041"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16042"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16043"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16044"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16045"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16046"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16031"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.092653274536133" y="-80.02274322509766" z="0.033789291977882385"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16033"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.6219964027404785" y="20.711074829101562" z="0.0030504988972097635"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16034"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.539572238922119" y="-148.65655517578125" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16035"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.952093124389648" y="-62.20911407470703" z="0.033801231533288956"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16036"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.616414070129395" y="38.28953552246094" z="0.0030469512566924095"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16037"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.76276969909668" y="-63.34172439575195" z="0.0337691493332386"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16038"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="69.46175384521484" y="42.63432312011719" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16039"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-48.25657272338867" y="-62.22792434692383" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16040"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.661613464355469" y="92.04397583007812" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16041"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="90.39373779296875" y="-82.29623413085938" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16042"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.19095802307129" y="-145.04336547851562" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16043"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.1338605880737305" y="25.2578125" z="0.003063468961045146"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16044"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.303312301635742" y="-160.66786193847656" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16045"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="67.33611297607422" y="-69.27116394042969" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16046"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.414024829864502" y="-72.59452819824219" z="0.03378333896398544"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16031"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16033"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16034"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16035"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16036"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16037"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16038"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16039"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16040"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16041"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16042"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16043"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16044"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16045"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16046"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16047"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16031"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.092653274536133" y="-80.02274322509766" z="0.033789291977882385"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16033"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.6219964027404785" y="20.711074829101562" z="0.0030504988972097635"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16034"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.539572238922119" y="-148.65655517578125" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16035"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.952093124389648" y="-62.20911407470703" z="0.033801231533288956"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16036"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.616414070129395" y="38.28953552246094" z="0.0030469512566924095"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16037"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.76276969909668" y="-63.34172439575195" z="0.0337691493332386"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16038"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="69.46175384521484" y="42.63432312011719" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16039"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-48.25657272338867" y="-62.22792434692383" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16040"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.661613464355469" y="92.04397583007812" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16041"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="90.39373779296875" y="-82.29623413085938" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16042"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.19095802307129" y="-145.04336547851562" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16043"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.1338605880737305" y="25.2578125" z="0.003063468961045146"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16044"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.303312301635742" y="-160.66786193847656" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16045"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="67.33611297607422" y="-69.27116394042969" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16046"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.414024829864502" y="-72.59452819824219" z="0.03378333896398544"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16047"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.450881958007812" y="-157.8193817138672" 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 add pedestrian at location (16.79, 34.61, 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_9456"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9457"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9458"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9459"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9460"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9461"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9462"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9463"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9464"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9465"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9466"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9467"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9468"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9469"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9470"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9471"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9472"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9456"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.972634315490723" y="38.8546257019043" z="0.0030633925925940275"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9457"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="31.434415817260742" y="44.12890625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9458"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.736588478088379" y="35.734134674072266" z="0.0030781172681599855"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9459"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.27003288269043" y="36.79655456542969" z="0.003042678814381361"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9460"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.250118732452393" y="36.62804412841797" z="0.003045578021556139"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9461"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.00344467163086" y="-64.02630615234375" z="0.03381050005555153"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9462"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.776665687561035" y="32.829750061035156" z="0.003070945618674159"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9463"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="84.19692993164062" y="7.228734493255615" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9464"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="17.89551544189453" y="14.72060489654541" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9465"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="72.6951675415039" y="15.410473823547363" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9466"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-72.21060180664062" y="-68.78596496582031" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9467"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="84.12663269042969" y="44.12129211425781" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9468"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="84.37730407714844" y="18.58839988708496" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9469"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.900860071182251" y="-162.46263122558594" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9470"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-76.14420318603516" y="-43.8883056640625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9471"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.979585647583008" y="18.944246292114258" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9472"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="90.53382110595703" y="97.84235382080078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9456"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9457"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9458"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9459"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9460"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9461"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9462"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9463"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9464"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9465"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9466"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9467"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9468"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9469"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9470"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9471"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9472"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9473"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9456"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.972634315490723" y="38.8546257019043" z="0.0030633925925940275"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9457"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="31.434415817260742" y="44.12890625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9458"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.736588478088379" y="35.734134674072266" z="0.0030781172681599855"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9459"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.27003288269043" y="36.79655456542969" z="0.003042678814381361"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9460"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.250118732452393" y="36.62804412841797" z="0.003045578021556139"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9461"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.00344467163086" y="-64.02630615234375" z="0.03381050005555153"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9462"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.776665687561035" y="32.829750061035156" z="0.003070945618674159"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9463"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="84.19692993164062" y="7.228734493255615" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9464"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="17.89551544189453" y="14.72060489654541" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9465"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="72.6951675415039" y="15.410473823547363" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9466"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-72.21060180664062" y="-68.78596496582031" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9467"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="84.12663269042969" y="44.12129211425781" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9468"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="84.37730407714844" y="18.58839988708496" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9469"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.900860071182251" y="-162.46263122558594" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9470"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-76.14420318603516" y="-43.8883056640625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9471"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.979585647583008" y="18.944246292114258" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9472"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="90.53382110595703" y="97.84235382080078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9473"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="16.785499572753906" y="34.60627746582031" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="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_standing_4183"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4184"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4185"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4186"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4187"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4188"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4189"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4190"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4191"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4192"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4193"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4194"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4195"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4196"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4197"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4198"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4199"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4200"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4183"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.128464698791504" y="37.829376220703125" z="0.003038711380213499"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4184"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="31.67974090576172" y="21.186166763305664" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4185"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-49.63172149658203" y="-43.39925003051758" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4186"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.730749130249023" y="-78.57987213134766" z="0.03377029299736023"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4187"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-78.33158111572266" y="90.75029754638672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4188"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.198888778686523" y="-73.26812744140625" z="0.03377647325396538"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4189"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.4913899898529053" y="33.588191986083984" z="0.0030474853701889515"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4190"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-41.7930908203125" y="37.53825759887695" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4191"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.31168532371521" y="-75.81988525390625" z="0.033779602497816086"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4192"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.259978294372559" y="-155.7716522216797" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4193"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="73.03713989257812" y="-98.84782409667969" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4194"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-31.585336685180664" y="89.2733383178711" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4195"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.537069320678711" y="33.093116760253906" z="0.0030396271031349897"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4196"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="85.32039642333984" y="25.225446701049805" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4197"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="79.60103607177734" y="-4.994071006774902" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4198"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.249978542327881" y="76.88041687011719" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4199"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.809944152832031" y="24.834646224975586" z="0.0030656051822006702"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4200"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.828366279602051" y="-149.1013946533203" 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_4183"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4184"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4185"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4186"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4187"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4188"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4189"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4190"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4191"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4192"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4193"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4194"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4195"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4196"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4197"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4198"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4199"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4200"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4201"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4183"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.128464698791504" y="37.829376220703125" z="0.003038711380213499"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4184"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="31.67974090576172" y="21.186166763305664" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4185"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-49.63172149658203" y="-43.39925003051758" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4186"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.730749130249023" y="-78.57987213134766" z="0.03377029299736023"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4187"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-78.33158111572266" y="90.75029754638672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4188"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.198888778686523" y="-73.26812744140625" z="0.03377647325396538"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4189"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.4913899898529053" y="33.588191986083984" z="0.0030474853701889515"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4190"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-41.7930908203125" y="37.53825759887695" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4191"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.31168532371521" y="-75.81988525390625" z="0.033779602497816086"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4192"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.259978294372559" y="-155.7716522216797" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4193"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="73.03713989257812" y="-98.84782409667969" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4194"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-31.585336685180664" y="89.2733383178711" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4195"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.537069320678711" y="33.093116760253906" z="0.0030396271031349897"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4196"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="85.32039642333984" y="25.225446701049805" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4197"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="79.60103607177734" y="-4.994071006774902" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4198"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.249978542327881" y="76.88041687011719" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4199"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.809944152832031" y="24.834646224975586" z="0.0030656051822006702"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4200"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.828366279602051" y="-149.1013946533203" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4201"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.869338274002075" y="-70.02278900146484" z="0.033819351345300674"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="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_5212? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="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_5195"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5197"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5198"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5200"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5205"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5208"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5211"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5212"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5214"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="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_5195"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.642167091369629" y="89.59591674804688" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5197"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-67.32380676269531" y="39.09462356567383" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5198"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.82277774810791" y="52.29792404174805" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5200"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="11.219881057739258" y="-86.99947357177734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5205"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-73.59319305419922" y="-72.47332763671875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5208"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.0204691886901855" y="-71.49547576904297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5211"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="62.173919677734375" y="39.816429138183594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5212"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-28.56722640991211" y="-15.927995681762695" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5214"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-86.15495300292969" y="-26.939411163330078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="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_5195"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5197"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5198"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5200"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5205"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5208"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5211"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5214"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="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_5195"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.642167091369629" y="89.59591674804688" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5197"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-67.32380676269531" y="39.09462356567383" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5198"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.82277774810791" y="52.29792404174805" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5200"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="11.219881057739258" y="-86.99947357177734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5205"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-73.59319305419922" y="-72.47332763671875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5208"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.0204691886901855" y="-71.49547576904297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5211"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="62.173919677734375" y="39.816429138183594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5214"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-86.15495300292969" y="-26.939411163330078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

can you add pedestrian at location (-23.73, 26.88, 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_1515"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1516"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1517"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1518"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1519"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1520"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1521"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1523"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1524"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1525"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1526"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1527"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1528"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1529"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1530"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1531"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1532"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1533"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1534"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1535"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1536"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1537"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1538"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1515"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.39645767211914" y="-78.73015594482422" z="0.03375816345214844"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1516"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-94.73039245605469" y="50.772647857666016" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1517"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.617298126220703" y="-156.58547973632812" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1518"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.188117980957031" y="-68.20819091796875" z="0.03382522612810135"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1519"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.16418170928955" y="-156.0875244140625" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1520"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.275602340698242" y="-44.35157012939453" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1521"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.761999130249023" y="-148.5227813720703" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1523"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.7508053183555603" y="25.223012924194336" z="0.003091735765337944"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1524"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.432717800140381" y="-69.56981658935547" z="0.03384845703840256"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1525"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-29.422714233398438" y="23.29779815673828" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1526"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-82.05506134033203" y="40.538429260253906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1527"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="8.166437149047852" y="43.83481216430664" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1528"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="3.8473830223083496" y="-152.9708709716797" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1529"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.347898244857788" y="-153.9031982421875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1530"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.206176280975342" y="27.061145782470703" z="0.0030037688557058573"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1531"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-38.68816375732422" y="17.96271514892578" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1532"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="81.00336456298828" y="-70.73974609375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1533"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-34.26361846923828" y="-85.31513977050781" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1534"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="77.15702056884766" y="63.09994888305664" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1535"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="28.880727767944336" y="-76.44021606445312" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1536"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.499353408813477" y="-77.49806213378906" z="0.03379505127668381"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1537"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.439186096191406" y="33.42958450317383" z="0.002993621863424778"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1538"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="53.555747985839844" y="-77.05390167236328" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1515"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1516"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1517"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1518"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1519"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1520"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1521"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1523"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1524"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1525"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1526"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1527"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1528"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1529"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1530"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1531"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1532"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1533"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1534"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1535"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1536"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1537"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1538"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1539"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1515"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.39645767211914" y="-78.73015594482422" z="0.03375816345214844"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1516"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-94.73039245605469" y="50.772647857666016" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1517"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.617298126220703" y="-156.58547973632812" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1518"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.188117980957031" y="-68.20819091796875" z="0.03382522612810135"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1519"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.16418170928955" y="-156.0875244140625" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1520"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.275602340698242" y="-44.35157012939453" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1521"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.761999130249023" y="-148.5227813720703" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1523"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.7508053183555603" y="25.223012924194336" z="0.003091735765337944"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1524"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.432717800140381" y="-69.56981658935547" z="0.03384845703840256"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1525"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-29.422714233398438" y="23.29779815673828" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1526"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-82.05506134033203" y="40.538429260253906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1527"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="8.166437149047852" y="43.83481216430664" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1528"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="3.8473830223083496" y="-152.9708709716797" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1529"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.347898244857788" y="-153.9031982421875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1530"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.206176280975342" y="27.061145782470703" z="0.0030037688557058573"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1531"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-38.68816375732422" y="17.96271514892578" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1532"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="81.00336456298828" y="-70.73974609375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1533"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-34.26361846923828" y="-85.31513977050781" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1534"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="77.15702056884766" y="63.09994888305664" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1535"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="28.880727767944336" y="-76.44021606445312" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1536"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.499353408813477" y="-77.49806213378906" z="0.03379505127668381"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1537"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.439186096191406" y="33.42958450317383" z="0.002993621863424778"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1538"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="53.555747985839844" y="-77.05390167236328" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1539"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-23.725648880004883" y="26.884092330932617" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

please remove pedestrian actor named pedestrian_w_transform_6066? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6061"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6062"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6063"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6064"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6065"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6066"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6067"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6069"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6070"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6071"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6072"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6073"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6074"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6061"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.017901420593262" y="-158.80557250976562" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6062"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-70.59046936035156" y="81.01487731933594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6063"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.938528060913086" y="-144.6502685546875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6064"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.172609567642212" y="-75.2496109008789" z="0.03378215804696083"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6065"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="39.913856506347656" y="-90.48843383789062" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6066"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="27.489625930786133" y="-82.49201202392578" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6067"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.8979105949401855" y="-72.5441665649414" z="0.03383934125304222"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6069"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-54.37070083618164" y="7.576564788818359" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6070"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.347675323486328" y="-64.04856872558594" z="0.033825911581516266"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6071"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.202571868896484" y="-71.26846313476562" z="0.033820342272520065"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6072"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-95.26826477050781" y="-46.489498138427734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6073"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.872499465942383" y="-67.85370635986328" z="0.03381599485874176"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6074"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-61.044883728027344" y="-32.202945709228516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6061"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6062"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6063"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6064"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6065"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6067"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6069"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6070"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6071"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6072"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6073"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6074"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6061"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.017901420593262" y="-158.80557250976562" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6062"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-70.59046936035156" y="81.01487731933594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6063"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.938528060913086" y="-144.6502685546875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6064"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.172609567642212" y="-75.2496109008789" z="0.03378215804696083"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6065"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="39.913856506347656" y="-90.48843383789062" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6067"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.8979105949401855" y="-72.5441665649414" z="0.03383934125304222"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6069"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-54.37070083618164" y="7.576564788818359" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6070"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.347675323486328" y="-64.04856872558594" z="0.033825911581516266"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6071"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.202571868896484" y="-71.26846313476562" z="0.033820342272520065"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6072"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-95.26826477050781" y="-46.489498138427734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6073"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.872499465942383" y="-67.85370635986328" z="0.03381599485874176"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6074"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-61.044883728027344" y="-32.202945709228516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="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 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_24651"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24652"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24654"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24655"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24658"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24660"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_24662"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24663"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24665"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24668"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24669"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24670"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24671"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24672"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_24675"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24677"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_24678"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_24651"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-22.585491180419922" y="-146.49082946777344" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24652"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.593486785888672" y="35.50541305541992" z="0.0030249785631895065"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24654"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="46.11701202392578" y="97.12271881103516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24655"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.397985935211182" y="21.963603973388672" z="0.0030051039066165686"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24658"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.849990844726562" y="-78.3946304321289" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24660"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.031251430511475" y="29.467212677001953" z="0.003017425537109375"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_24662"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.376155853271484" y="-150.9361114501953" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24663"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.163259029388428" y="-72.25205993652344" z="0.0338238887488842"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24665"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.70150089263916" y="-79.81040954589844" z="0.03381500020623207"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24668"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.982194900512695" y="-74.06101989746094" z="0.03380470350384712"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24669"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.0988681316375732" y="-75.4927749633789" z="0.03372657671570778"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24670"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-27.127853393554688" y="8.231375694274902" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24671"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.928249359130859" y="23.041385650634766" z="0.003067130921408534"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24672"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.16463041305542" y="-78.8239974975586" z="0.03382911533117294"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_24675"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.26995050907135" y="-145.42454528808594" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24677"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.778964042663574" y="24.425743103027344" z="0.003042754950001836"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_24678"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.816168785095215" y="-165.14906311035156" 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_24651"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24652"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24654"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24655"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24658"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24660"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_24662"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24663"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24665"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24668"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24669"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24670"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24671"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24672"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_24675"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_24678"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_24651"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-22.585491180419922" y="-146.49082946777344" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24652"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.593486785888672" y="35.50541305541992" z="0.0030249785631895065"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24654"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="46.11701202392578" y="97.12271881103516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24655"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.397985935211182" y="21.963603973388672" z="0.0030051039066165686"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24658"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.849990844726562" y="-78.3946304321289" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24660"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.031251430511475" y="29.467212677001953" z="0.003017425537109375"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_24662"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.376155853271484" y="-150.9361114501953" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24663"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.163259029388428" y="-72.25205993652344" z="0.0338238887488842"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24665"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.70150089263916" y="-79.81040954589844" z="0.03381500020623207"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24668"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.982194900512695" y="-74.06101989746094" z="0.03380470350384712"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24669"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.0988681316375732" y="-75.4927749633789" z="0.03372657671570778"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24670"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-27.127853393554688" y="8.231375694274902" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24671"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.928249359130859" y="23.041385650634766" z="0.003067130921408534"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24672"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.16463041305542" y="-78.8239974975586" z="0.03382911533117294"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_24675"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.26995050907135" y="-145.42454528808594" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_24678"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.816168785095215" y="-165.14906311035156" 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 direct you to remove pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19330"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19331"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19332"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19333"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19334"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19335"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19336"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19337"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19338"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19339"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19340"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19330"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.2370176315307617" y="-151.97842407226562" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19331"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.3039445877075195" y="-80.80755615234375" z="0.033810652792453766"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19332"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.265274047851562" y="26.161169052124023" z="0.003036766080185771"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19333"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-64.95026397705078" y="14.218674659729004" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19334"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="50.98643493652344" y="62.91611099243164" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19335"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.199158668518066" y="-73.7479019165039" z="0.033858947455883026"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19336"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.902320861816406" y="34.928104400634766" z="0.003032684326171875"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19337"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="8.271504402160645" y="62.413394927978516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19338"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.108589172363281" y="30.532888412475586" z="0.0030772017780691385"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19339"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.2675838470459" y="19.937103271484375" z="0.003084907541051507"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19340"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="97.20097351074219" y="-28.29667091369629" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19330"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19331"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19332"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19333"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19334"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19335"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19336"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19337"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19339"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19340"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19330"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.2370176315307617" y="-151.97842407226562" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19331"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.3039445877075195" y="-80.80755615234375" z="0.033810652792453766"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19332"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.265274047851562" y="26.161169052124023" z="0.003036766080185771"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19333"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-64.95026397705078" y="14.218674659729004" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19334"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="50.98643493652344" y="62.91611099243164" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19335"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.199158668518066" y="-73.7479019165039" z="0.033858947455883026"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19336"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.902320861816406" y="34.928104400634766" z="0.003032684326171875"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19337"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="8.271504402160645" y="62.413394927978516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19339"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.2675838470459" y="19.937103271484375" z="0.003084907541051507"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19340"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="97.20097351074219" y="-28.29667091369629" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </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_standing_9170"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9171"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9172"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9173"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9174"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9175"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9176"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9178"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9179"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9180"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9181"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9182"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9183"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9170"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.6767334938049316" y="23.93494415283203" z="0.0030073928646743298"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9171"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.7756855487823486" y="20.74528694152832" z="0.0030362701509147882"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9172"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.67897367477417" y="41.12238311767578" z="0.0030484390445053577"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9173"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.577947616577148" y="-152.35426330566406" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9174"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-76.75991821289062" y="43.148643493652344" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9175"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.749035835266113" y="95.43714141845703" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9176"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.966902732849121" y="-52.121238708496094" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9178"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.523200035095215" y="-77.60008239746094" z="0.033759575337171555"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9179"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.987959861755371" y="-71.74314880371094" z="0.03373660892248154"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9180"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.037562370300293" y="-153.93991088867188" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9181"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.894562721252441" y="34.56400680541992" z="0.003015670692548156"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9182"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.77231502532959" y="-154.79627990722656" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9183"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-53.44390869140625" y="58.89076614379883" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9170"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9171"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9172"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9173"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9174"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9175"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9176"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9178"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9179"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9180"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9182"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9183"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9170"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.6767334938049316" y="23.93494415283203" z="0.0030073928646743298"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9171"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.7756855487823486" y="20.74528694152832" z="0.0030362701509147882"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9172"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.67897367477417" y="41.12238311767578" z="0.0030484390445053577"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9173"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.577947616577148" y="-152.35426330566406" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9174"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-76.75991821289062" y="43.148643493652344" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9175"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.749035835266113" y="95.43714141845703" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9176"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.966902732849121" y="-52.121238708496094" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9178"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.523200035095215" y="-77.60008239746094" z="0.033759575337171555"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9179"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.987959861755371" y="-71.74314880371094" z="0.03373660892248154"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9180"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.037562370300293" y="-153.93991088867188" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9182"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.77231502532959" y="-154.79627990722656" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9183"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-53.44390869140625" y="58.89076614379883" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to tell you to add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14640"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14641"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14642"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14643"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14644"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14640"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.072232246398926" y="-64.43721008300781" z="0.033778686076402664"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14641"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="9.33563232421875" y="-169.0999298095703" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14642"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.872900009155273" y="36.10439682006836" z="0.0030779647640883923"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14643"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.221294403076172" y="-159.55606079101562" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14644"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.196844100952148" y="-78.38421630859375" z="0.033813782036304474"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14640"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14641"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14642"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14643"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14644"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14645"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14640"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.072232246398926" y="-64.43721008300781" z="0.033778686076402664"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14641"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="9.33563232421875" y="-169.0999298095703" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14642"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.872900009155273" y="36.10439682006836" z="0.0030779647640883923"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14643"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.221294403076172" y="-159.55606079101562" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14644"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.196844100952148" y="-78.38421630859375" z="0.033813782036304474"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14645"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.225422859191895" y="29.952505111694336" z="0.003028068458661437"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="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_11750"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11751"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11752"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_11753"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11754"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11755"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11756"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11757"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11758"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11759"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_11760"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11761"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11762"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11763"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11764"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11765"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11766"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11767"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_11768"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11769"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11770"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11771"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11772"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_11750"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.2734215259552" y="-155.34959411621094" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11751"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-25.938995361328125" y="58.83513641357422" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11752"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-83.07913970947266" y="22.441320419311523" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_11753"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.170005798339844" y="-158.15216064453125" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11754"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="99.17584991455078" y="-85.791015625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11755"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-28.5664005279541" y="-54.97913360595703" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11756"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.759677767753601" y="95.17479705810547" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11757"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.3532755374908447" y="-80.91792297363281" z="0.03383708745241165"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11758"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.147287368774414" y="37.62122344970703" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11759"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="84.86937713623047" y="16.77267074584961" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_11760"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.901651382446289" y="-153.99441528320312" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11761"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-65.08369445800781" y="-77.34431457519531" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11762"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="88.06550598144531" y="91.30394744873047" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11763"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.131278038024902" y="-74.68965911865234" z="0.03384853154420853"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11764"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-50.61469650268555" y="67.79198455810547" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11765"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="28.939617156982422" y="-98.07750701904297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11766"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.354416847229004" y="-72.7454833984375" z="0.033818166702985764"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11767"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="45.91482162475586" y="93.53177642822266" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_11768"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.2596379816532135" y="-159.86404418945312" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11769"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-51.19236373901367" y="99.25284576416016" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11770"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.737624168395996" y="-77.58650970458984" z="0.033789366483688354"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11771"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="38.55646896362305" y="-35.00178909301758" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11772"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="67.86775207519531" y="55.03811264038086" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_11750"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11751"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11752"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_11753"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11754"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11755"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11756"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11757"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11758"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11759"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_11760"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11761"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11762"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11763"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11764"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11765"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11766"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11767"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_11768"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11769"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11770"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11771"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11772"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_11773"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_11750"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.2734215259552" y="-155.34959411621094" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11751"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-25.938995361328125" y="58.83513641357422" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11752"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-83.07913970947266" y="22.441320419311523" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_11753"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.170005798339844" y="-158.15216064453125" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11754"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="99.17584991455078" y="-85.791015625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11755"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-28.5664005279541" y="-54.97913360595703" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11756"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.759677767753601" y="95.17479705810547" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11757"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.3532755374908447" y="-80.91792297363281" z="0.03383708745241165"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11758"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.147287368774414" y="37.62122344970703" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11759"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="84.86937713623047" y="16.77267074584961" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_11760"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.901651382446289" y="-153.99441528320312" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11761"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-65.08369445800781" y="-77.34431457519531" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11762"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="88.06550598144531" y="91.30394744873047" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11763"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.131278038024902" y="-74.68965911865234" z="0.03384853154420853"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11764"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-50.61469650268555" y="67.79198455810547" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11765"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="28.939617156982422" y="-98.07750701904297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11766"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.354416847229004" y="-72.7454833984375" z="0.033818166702985764"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11767"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="45.91482162475586" y="93.53177642822266" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_11768"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.2596379816532135" y="-159.86404418945312" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11769"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-51.19236373901367" y="99.25284576416016" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11770"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.737624168395996" y="-77.58650970458984" z="0.033789366483688354"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11771"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="38.55646896362305" y="-35.00178909301758" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11772"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="67.86775207519531" y="55.03811264038086" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_11773"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-23.5512638092041" y="-138.92501831054688" 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 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_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> <ScenarioObject name="pedestrian_w_transform_24501"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24502"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24503"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_24504"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24505"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24506"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24507"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_24508"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24509"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24510"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24511"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_24512"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24513"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24514"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24515"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <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> <Private entityRef="pedestrian_w_transform_24501"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-47.78588104248047" y="18.540241241455078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24502"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.0594482421875" y="-39.57579040527344" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24503"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-75.05426788330078" y="24.17892074584961" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_24504"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.072412490844727" y="-144.57301330566406" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24505"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.887934684753418" y="20.84749984741211" z="0.0030290221329778433"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24506"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.312823295593262" y="-71.72978210449219" z="0.03378566727042198"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24507"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-42.59984588623047" y="53.46269989013672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_24508"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.5313720703125" y="-155.80555725097656" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24509"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-82.98756408691406" y="83.69087982177734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24510"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.319048881530762" y="19.398866653442383" z="0.0030040359124541283"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24511"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.3424853086471558" y="-68.646484375" z="0.033811721950769424"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_24512"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.110963821411133" y="-159.22889709472656" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24513"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-29.50322151184082" y="50.2047233581543" z="0.003028449835255742"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24514"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="66.26982116699219" y="82.02693939208984" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24515"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.65064239501953" y="-14.515389442443848" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="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> <ScenarioObject name="pedestrian_w_transform_24501"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24502"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24503"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_24504"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24505"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24506"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24507"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_24508"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24509"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24510"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24511"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_24512"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24513"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24514"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24515"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24516"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <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> <Private entityRef="pedestrian_w_transform_24501"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-47.78588104248047" y="18.540241241455078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24502"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.0594482421875" y="-39.57579040527344" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24503"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-75.05426788330078" y="24.17892074584961" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_24504"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.072412490844727" y="-144.57301330566406" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24505"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.887934684753418" y="20.84749984741211" z="0.0030290221329778433"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24506"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.312823295593262" y="-71.72978210449219" z="0.03378566727042198"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24507"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-42.59984588623047" y="53.46269989013672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_24508"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.5313720703125" y="-155.80555725097656" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24509"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-82.98756408691406" y="83.69087982177734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24510"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.319048881530762" y="19.398866653442383" z="0.0030040359124541283"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24511"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.3424853086471558" y="-68.646484375" z="0.033811721950769424"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_24512"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.110963821411133" y="-159.22889709472656" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24513"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-29.50322151184082" y="50.2047233581543" z="0.003028449835255742"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24514"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="66.26982116699219" y="82.02693939208984" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24515"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.65064239501953" y="-14.515389442443848" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24516"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.100720405578613" y="34.3218879699707" z="0.003053550608456135"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="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> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </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_9412"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9412"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.117541790008545" y="-158.9371795654297" 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 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_11481"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11482"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_11483"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11484"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11481"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.068889617919922" y="-76.25273895263672" z="0.03380062058568001"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11482"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="9.895007133483887" y="-31.018756866455078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_11483"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.182552337646484" y="-153.6699981689453" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11484"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-35.37390899658203" y="-97.91035461425781" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11481"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11482"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_11483"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11484"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11485"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11481"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.068889617919922" y="-76.25273895263672" z="0.03380062058568001"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11482"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="9.895007133483887" y="-31.018756866455078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_11483"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.182552337646484" y="-153.6699981689453" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11484"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-35.37390899658203" y="-97.91035461425781" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11485"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.280152320861816" y="-66.8597412109375" z="0.03381240740418434"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like you to add pedestrian at location (0.93, -59.18, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_17229"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_17229"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.125200271606445" y="20.53091812133789" z="0.0030992887914180756"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_17229"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17230"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_17229"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.125200271606445" y="20.53091812133789" z="0.0030992887914180756"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17230"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.9260910153388977" y="-59.18193817138672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </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_19290"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19290"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.648429870605469" y="27.79047966003418" z="0.0030403519049286842"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="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 (73.5, -57.77, 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_8081"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8082"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_8083"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8084"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8085"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_8086"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_8087"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_8088"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8081"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.136263370513916" y="-67.96941375732422" z="0.03378696367144585"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8082"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.9095540046691895" y="-67.49105072021484" z="0.03382594883441925"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_8083"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.085137367248535" y="19.74822998046875" z="0.003081168979406357"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8084"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.298881530761719" y="-84.41240692138672" z="0.033769797533750534"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8085"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="12.430376052856445" y="65.5522689819336" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_8086"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.425130844116211" y="-146.3391571044922" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_8087"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.184009552001953" y="-145.4043731689453" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_8088"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.154537200927734" y="-154.43734741210938" 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_8081"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8082"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_8083"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8084"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8085"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_8086"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_8087"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_8088"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8089"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8081"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.136263370513916" y="-67.96941375732422" z="0.03378696367144585"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8082"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.9095540046691895" y="-67.49105072021484" z="0.03382594883441925"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_8083"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.085137367248535" y="19.74822998046875" z="0.003081168979406357"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8084"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.298881530761719" y="-84.41240692138672" z="0.033769797533750534"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8085"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="12.430376052856445" y="65.5522689819336" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_8086"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.425130844116211" y="-146.3391571044922" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_8087"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.184009552001953" y="-145.4043731689453" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_8088"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.154537200927734" y="-154.43734741210938" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8089"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="73.49801635742188" y="-57.76556396484375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to request you to add pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </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_14043"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14043"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.706964492797852" y="-158.18141174316406" 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 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_12810"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_12811"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_12810"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.151349067687988" y="-148.43223571777344" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_12811"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.2049806118011475" y="-80.27315521240234" z="0.03379043564200401"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_12810"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_12811"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_12813"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_12810"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.151349067687988" y="-148.43223571777344" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_12811"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.2049806118011475" y="-80.27315521240234" z="0.03379043564200401"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_12813"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.766687393188477" y="34.55217742919922" z="0.0030525969341397285"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="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_standing_9042? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9042"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9044"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9045"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9047"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9049"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9050"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9057"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9059"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9061"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9063"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9066"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9067"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9042"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.235623359680176" y="34.142112731933594" z="0.0030308531131595373"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9044"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.224527359008789" y="38.81769561767578" z="0.003059234470129013"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9045"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.01705551147461" y="24.737743377685547" z="0.0031003570184111595"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9047"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="11.753684997558594" y="-142.5890350341797" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9049"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.9852070808410645" y="-72.77897644042969" z="0.033806152641773224"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9050"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="94.34663391113281" y="92.76374816894531" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9057"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-94.16691589355469" y="-83.28880310058594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9059"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="20.76490592956543" y="70.01150512695312" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9061"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-27.665111541748047" y="3.1650662422180176" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9063"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="75.74920654296875" y="-37.05278015136719" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9066"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="13.532477378845215" y="82.33336639404297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9067"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.151805877685547" y="-82.178955078125" z="0.03380603715777397"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9044"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9045"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9047"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9049"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9050"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9057"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9059"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9061"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9063"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9066"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9067"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9044"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.224527359008789" y="38.81769561767578" z="0.003059234470129013"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9045"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.01705551147461" y="24.737743377685547" z="0.0031003570184111595"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9047"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="11.753684997558594" y="-142.5890350341797" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9049"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.9852070808410645" y="-72.77897644042969" z="0.033806152641773224"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9050"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="94.34663391113281" y="92.76374816894531" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9057"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-94.16691589355469" y="-83.28880310058594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9059"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="20.76490592956543" y="70.01150512695312" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9061"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-27.665111541748047" y="3.1650662422180176" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9063"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="75.74920654296875" y="-37.05278015136719" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9066"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="13.532477378845215" y="82.33336639404297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9067"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.151805877685547" y="-82.178955078125" z="0.03380603715777397"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="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_8380"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_8382"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8380"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.049259185791016" y="-63.860313415527344" z="0.03382747620344162"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_8382"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.3509624004364014" y="22.25401496887207" z="0.0030087660998106003"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8380"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_8382"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_8383"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8380"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.049259185791016" y="-63.860313415527344" z="0.03382747620344162"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_8382"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.3509624004364014" y="22.25401496887207" z="0.0030087660998106003"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_8383"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.627335548400879" y="-146.8378448486328" 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 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_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> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <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> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="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> ```

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_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> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <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> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

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

i would like to direct you to add pedestrian close to adversary? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_10340"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10341"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10342"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_10340"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.74391508102417" y="-155.86749267578125" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10341"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.03829002380371" y="-67.85906982421875" z="0.03379680588841438"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10342"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="27.396121978759766" y="38.742225646972656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_10340"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10341"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10342"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10343"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_10340"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.74391508102417" y="-155.86749267578125" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10341"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.03829002380371" y="-67.85906982421875" z="0.03379680588841438"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10342"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="27.396121978759766" y="38.742225646972656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10343"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.958992958068848" y="-72.72855377197266" z="0.03378494083881378"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to order you to add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19240"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19241"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19242"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19243"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19245"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19246"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19247"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19248"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19249"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19250"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19251"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19252"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19253"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19240"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.156517505645752" y="-67.37601470947266" z="0.0337962731719017"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19241"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.345184326171875" y="-156.91427612304688" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19242"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.0128741264343262" y="-177.5703582763672" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19243"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="86.5065689086914" y="-32.92233657836914" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19245"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.756008625030518" y="-66.01492309570312" z="0.033796004951000214"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19246"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.075496673583984" y="-50.44377136230469" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19247"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.540989398956299" y="-61.63713836669922" z="0.03378459811210632"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19248"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.583002090454102" y="-73.85884857177734" z="0.03374340012669563"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19249"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.3144341707229614" y="22.425125122070312" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19250"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.991624355316162" y="-0.3823164403438568" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19251"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.63484001159668" y="-78.44657135009766" z="0.03390251100063324"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19252"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.273357391357422" y="-141.44354248046875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19253"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="78.21009063720703" y="-26.777345657348633" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19240"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19241"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19242"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19243"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19245"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19246"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19247"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19248"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19249"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19250"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19251"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19252"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19253"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19254"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19240"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.156517505645752" y="-67.37601470947266" z="0.0337962731719017"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19241"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.345184326171875" y="-156.91427612304688" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19242"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.0128741264343262" y="-177.5703582763672" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19243"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="86.5065689086914" y="-32.92233657836914" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19245"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.756008625030518" y="-66.01492309570312" z="0.033796004951000214"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19246"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.075496673583984" y="-50.44377136230469" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19247"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.540989398956299" y="-61.63713836669922" z="0.03378459811210632"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19248"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.583002090454102" y="-73.85884857177734" z="0.03374340012669563"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19249"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.3144341707229614" y="22.425125122070312" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19250"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.991624355316162" y="-0.3823164403438568" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19251"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.63484001159668" y="-78.44657135009766" z="0.03390251100063324"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19252"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.273357391357422" y="-141.44354248046875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19253"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="78.21009063720703" y="-26.777345657348633" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19254"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-21.94753074645996" y="28.06429100036621" z="0.003045043908059597"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to order you to add pedestrian at location (69.42, 50.87, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_7839"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7840"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_7842"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7843"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_7844"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_7845"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_7839"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.8793840408325195" y="-151.77394104003906" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7840"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="14.60481071472168" y="-42.18685531616211" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_7842"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.783298015594482" y="-63.03717803955078" z="0.03380107879638672"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7843"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.764918327331543" y="-50.73841857910156" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_7844"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.27243995666504" y="-155.30838012695312" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_7845"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.316539764404297" y="-76.04609680175781" z="0.033790815621614456"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_7839"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7840"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_7842"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7843"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_7844"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_7845"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7846"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_7839"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.8793840408325195" y="-151.77394104003906" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7840"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="14.60481071472168" y="-42.18685531616211" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_7842"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.783298015594482" y="-63.03717803955078" z="0.03380107879638672"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7843"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.764918327331543" y="-50.73841857910156" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_7844"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.27243995666504" y="-155.30838012695312" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_7845"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.316539764404297" y="-76.04609680175781" z="0.033790815621614456"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7846"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="69.42498016357422" y="50.867027282714844" 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 direct you to add pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18614"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18615"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18616"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18617"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18618"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18619"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18620"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18623"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18624"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18625"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18626"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18627"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18628"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18629"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18630"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18631"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18632"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18634"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18635"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18614"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.164727210998535" y="-80.32588958740234" z="0.03380699083209038"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18615"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="6.228158950805664" y="63.942481994628906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18616"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="39.83513259887695" y="86.21382141113281" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18617"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.05838966369629" y="-71.4817886352539" z="0.0337643027305603"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18618"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-32.66998291015625" y="52.7222900390625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18619"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.967550754547119" y="-144.7945556640625" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18620"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.480329513549805" y="36.593544006347656" z="0.0030832672491669655"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18623"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.184545516967773" y="28.6158447265625" z="0.0030662917997688055"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18624"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.179055213928223" y="-155.47772216796875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18625"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.414603233337402" y="-62.08743667602539" z="0.03380496799945831"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18626"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="44.67254638671875" y="-51.48579406738281" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18627"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.1035118103027344" y="-150.32611083984375" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18628"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.5973410606384277" y="-78.4645767211914" z="0.0337301641702652"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18629"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.747869491577148" y="-70.33644104003906" z="0.03379768133163452"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18630"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="9.050806045532227" y="-162.60841369628906" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18631"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.08148193359375" y="-154.84327697753906" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18632"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="73.32270050048828" y="-63.46025848388672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18634"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.639825820922852" y="-141.20126342773438" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18635"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="60.53384780883789" y="-25.304502487182617" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18614"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18615"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18616"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18617"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18618"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18619"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18620"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18623"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18624"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18625"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18626"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18627"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18628"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18629"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18630"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18631"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18632"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18634"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18635"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18639"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18614"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.164727210998535" y="-80.32588958740234" z="0.03380699083209038"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18615"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="6.228158950805664" y="63.942481994628906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18616"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="39.83513259887695" y="86.21382141113281" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18617"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.05838966369629" y="-71.4817886352539" z="0.0337643027305603"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18618"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-32.66998291015625" y="52.7222900390625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18619"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.967550754547119" y="-144.7945556640625" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18620"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.480329513549805" y="36.593544006347656" z="0.0030832672491669655"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18623"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.184545516967773" y="28.6158447265625" z="0.0030662917997688055"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18624"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.179055213928223" y="-155.47772216796875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18625"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.414603233337402" y="-62.08743667602539" z="0.03380496799945831"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18626"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="44.67254638671875" y="-51.48579406738281" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18627"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.1035118103027344" y="-150.32611083984375" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18628"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.5973410606384277" y="-78.4645767211914" z="0.0337301641702652"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18629"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.747869491577148" y="-70.33644104003906" z="0.03379768133163452"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18630"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="9.050806045532227" y="-162.60841369628906" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18631"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.08148193359375" y="-154.84327697753906" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18632"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="73.32270050048828" y="-63.46025848388672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18634"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.639825820922852" y="-141.20126342773438" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18635"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="60.53384780883789" y="-25.304502487182617" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18639"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.723089218139648" y="-145.45465087890625" 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 direct you to add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1407"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1408"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1409"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1410"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1411"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1412"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1413"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1414"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1407"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.169021606445312" y="35.246192932128906" z="0.003050842322409153"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1408"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.2455408275127411" y="-73.57752227783203" z="0.03380065783858299"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1409"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="77.36477661132812" y="19.084821701049805" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1410"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-84.14488983154297" y="6.60585355758667" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1411"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.07772159576416" y="-145.84568786621094" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1412"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-90.392578125" y="81.048828125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1413"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.890402793884277" y="24.419626235961914" z="0.0030463789589703083"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1414"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="56.77568054199219" y="-74.77015686035156" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1407"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1408"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1409"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1410"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1411"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1412"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1413"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1414"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1415"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1407"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.169021606445312" y="35.246192932128906" z="0.003050842322409153"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1408"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.2455408275127411" y="-73.57752227783203" z="0.03380065783858299"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1409"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="77.36477661132812" y="19.084821701049805" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1410"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-84.14488983154297" y="6.60585355758667" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1411"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.07772159576416" y="-145.84568786621094" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1412"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-90.392578125" y="81.048828125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1413"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.890402793884277" y="24.419626235961914" z="0.0030463789589703083"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1414"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="56.77568054199219" y="-74.77015686035156" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1415"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.393843650817871" y="23.634624481201172" z="0.0030406187288463116"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i need you to add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4214"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4215"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4216"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4217"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4218"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4219"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4220"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4221"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4222"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4223"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4224"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4214"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.2721768617630005" y="29.412559509277344" z="0.0030455016531050205"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4215"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.931629657745361" y="46.77640914916992" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4216"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.98222541809082" y="-149.8123779296875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4217"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.6654226779937744" y="-150.6629638671875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4218"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-94.55921936035156" y="49.140655517578125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4219"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="15.115653991699219" y="-45.48543167114258" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4220"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.746164321899414" y="26.71111297607422" z="0.0030611418187618256"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4221"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-76.56778717041016" y="17.04189109802246" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4222"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="47.926822662353516" y="-1.2543449401855469" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4223"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-59.527183532714844" y="90.51030731201172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4224"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.649643898010254" y="21.630496978759766" z="0.0030504607129842043"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4214"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4215"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4216"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4217"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4218"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4219"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4220"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4221"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4222"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4223"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4224"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4225"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4214"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.2721768617630005" y="29.412559509277344" z="0.0030455016531050205"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4215"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.931629657745361" y="46.77640914916992" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4216"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.98222541809082" y="-149.8123779296875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4217"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.6654226779937744" y="-150.6629638671875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4218"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-94.55921936035156" y="49.140655517578125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4219"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="15.115653991699219" y="-45.48543167114258" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4220"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.746164321899414" y="26.71111297607422" z="0.0030611418187618256"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4221"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-76.56778717041016" y="17.04189109802246" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4222"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="47.926822662353516" y="-1.2543449401855469" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4223"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-59.527183532714844" y="90.51030731201172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4224"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.649643898010254" y="21.630496978759766" z="0.0030504607129842043"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4225"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.2527437210083" y="37.34736633300781" z="0.0030384825076907873"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

could you add pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16318"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16319"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16320"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16321"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16322"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16323"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16324"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16325"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16326"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16327"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16328"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16329"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16330"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16331"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16332"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16333"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16334"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16335"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16318"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.600325584411621" y="28.75517463684082" z="0.003062095493078232"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16319"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="43.94606399536133" y="46.30027389526367" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16320"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.0293569564819336" y="-79.00775909423828" z="0.03380611166357994"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16321"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.283137321472168" y="23.112947463989258" z="0.0030264281667768955"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16322"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-90.03166198730469" y="-87.96131134033203" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16323"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-69.18990325927734" y="-84.52616882324219" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16324"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-73.88459014892578" y="18.935739517211914" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16325"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-42.05868148803711" y="-44.49631881713867" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16326"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="94.97418975830078" y="-20.15251922607422" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16327"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.081217765808105" y="22.63196563720703" z="0.003007812425494194"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16328"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.86522102355957" y="-85.58541870117188" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16329"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.924903869628906" y="-160.81915283203125" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16330"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="72.4588394165039" y="-22.74622344970703" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16331"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.857285499572754" y="-160.38221740722656" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16332"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.961033344268799" y="23.415964126586914" z="0.00306949601508677"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16333"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.13309383392334" y="-62.09215545654297" z="0.03384128585457802"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16334"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.511936664581299" y="-162.65179443359375" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16335"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.282215118408203" y="37.75175857543945" z="0.0030804441776126623"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16318"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16319"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16320"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16321"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16322"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16323"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16324"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16325"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16326"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16327"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16328"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16329"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16330"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16331"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16332"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16333"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16334"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16335"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16336"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16318"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.600325584411621" y="28.75517463684082" z="0.003062095493078232"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16319"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="43.94606399536133" y="46.30027389526367" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16320"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.0293569564819336" y="-79.00775909423828" z="0.03380611166357994"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16321"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.283137321472168" y="23.112947463989258" z="0.0030264281667768955"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16322"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-90.03166198730469" y="-87.96131134033203" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16323"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-69.18990325927734" y="-84.52616882324219" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16324"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-73.88459014892578" y="18.935739517211914" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16325"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-42.05868148803711" y="-44.49631881713867" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16326"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="94.97418975830078" y="-20.15251922607422" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16327"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.081217765808105" y="22.63196563720703" z="0.003007812425494194"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16328"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.86522102355957" y="-85.58541870117188" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16329"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.924903869628906" y="-160.81915283203125" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16330"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="72.4588394165039" y="-22.74622344970703" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16331"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.857285499572754" y="-160.38221740722656" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16332"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.961033344268799" y="23.415964126586914" z="0.00306949601508677"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16333"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.13309383392334" y="-62.09215545654297" z="0.03384128585457802"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16334"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.511936664581299" y="-162.65179443359375" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16335"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.282215118408203" y="37.75175857543945" z="0.0030804441776126623"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16336"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.756805419921875" y="-154.8935546875" 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 add pedestrian at location (35.25, -3.0, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4744"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4745"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4746"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4747"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4748"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4749"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4750"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4751"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4752"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4753"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4754"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4756"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4757"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4758"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4759"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4760"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4744"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.1163134574890137" y="-148.02999877929688" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4745"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-74.02706909179688" y="29.55299186706543" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4746"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.22844409942627" y="40.23284912109375" z="0.0030452345963567495"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4747"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.579164505004883" y="36.74475860595703" z="0.003043975681066513"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4748"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.834012985229492" y="-76.57833099365234" z="0.03374648839235306"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4749"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.52259635925293" y="-146.80528259277344" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4750"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-72.9950942993164" y="-33.438934326171875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4751"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.623732566833496" y="-162.20558166503906" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4752"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.765409469604492" y="-66.37639617919922" z="0.03381294012069702"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4753"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.391419887542725" y="-78.78975677490234" z="0.03379939869046211"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4754"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.944849014282227" y="91.95126342773438" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4756"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="8.847305297851562" y="-151.08096313476562" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4757"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.773653984069824" y="-153.49578857421875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4758"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-65.82337188720703" y="-62.97572326660156" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4759"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="79.12540435791016" y="86.91902160644531" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4760"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.340958595275879" y="64.35063171386719" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4744"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4745"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4746"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4747"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4748"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4749"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4750"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4751"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4752"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4753"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4754"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4756"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4757"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4758"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4759"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4760"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4761"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4744"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.1163134574890137" y="-148.02999877929688" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4745"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-74.02706909179688" y="29.55299186706543" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4746"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.22844409942627" y="40.23284912109375" z="0.0030452345963567495"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4747"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.579164505004883" y="36.74475860595703" z="0.003043975681066513"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4748"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.834012985229492" y="-76.57833099365234" z="0.03374648839235306"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4749"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.52259635925293" y="-146.80528259277344" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4750"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-72.9950942993164" y="-33.438934326171875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4751"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.623732566833496" y="-162.20558166503906" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4752"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.765409469604492" y="-66.37639617919922" z="0.03381294012069702"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4753"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.391419887542725" y="-78.78975677490234" z="0.03379939869046211"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4754"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.944849014282227" y="91.95126342773438" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4756"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="8.847305297851562" y="-151.08096313476562" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4757"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.773653984069824" y="-153.49578857421875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4758"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-65.82337188720703" y="-62.97572326660156" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4759"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="79.12540435791016" y="86.91902160644531" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4760"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.340958595275879" y="64.35063171386719" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4761"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="35.250267028808594" y="-3.0045785903930664" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

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

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_15610"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_15610"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.254880666732788" y="-56.040714263916016" z="0.03382709249854088"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to guide you to remove pedestrian actor named pedestrian_close_to_hero_23007? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23006"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23007"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23006"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.4996862411499023" y="-159.83692932128906" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23007"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.095658302307129" y="-161.86485290527344" 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_23006"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23006"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.4996862411499023" y="-159.83692932128906" 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_20664? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20648"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20649"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20651"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20656"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20657"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20659"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20660"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20662"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20664"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20665"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20667"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20648"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.695732116699219" y="36.801666259765625" z="0.0030356214847415686"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20649"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="95.73976135253906" y="80.52034759521484" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20651"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.02977466583252" y="-78.17330169677734" z="0.033838577568531036"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20656"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.2452802658081055" y="-72.87152862548828" z="0.03374050185084343"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20657"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.361659049987793" y="-69.34713745117188" z="0.03382808715105057"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20659"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.164000988006592" y="-78.50784301757812" z="0.03372203931212425"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20660"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-94.9412612915039" y="27.620941162109375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20662"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="92.9615249633789" y="-32.56672286987305" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20664"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="99.9905014038086" y="34.83066177368164" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20665"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.42334818840026855" y="23.3404598236084" z="0.003082618582993746"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20667"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.896791458129883" y="-76.37043762207031" z="0.033818319439888"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20648"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20649"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20651"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20656"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20657"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20659"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20660"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20662"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20665"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20667"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20648"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.695732116699219" y="36.801666259765625" z="0.0030356214847415686"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20649"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="95.73976135253906" y="80.52034759521484" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20651"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.02977466583252" y="-78.17330169677734" z="0.033838577568531036"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20656"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.2452802658081055" y="-72.87152862548828" z="0.03374050185084343"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20657"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.361659049987793" y="-69.34713745117188" z="0.03382808715105057"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20659"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.164000988006592" y="-78.50784301757812" z="0.03372203931212425"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20660"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-94.9412612915039" y="27.620941162109375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20662"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="92.9615249633789" y="-32.56672286987305" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20665"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.42334818840026855" y="23.3404598236084" z="0.003082618582993746"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20667"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.896791458129883" y="-76.37043762207031" z="0.033818319439888"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="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_14410"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14411"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14412"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14413"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14414"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14415"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14416"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14417"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14418"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14419"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14420"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14421"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14422"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14423"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14424"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14425"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14426"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14427"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14428"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14429"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14430"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14431"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14410"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.929585456848145" y="-155.0712127685547" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14411"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="37.7911262512207" y="90.5811996459961" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14412"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.493317604064941" y="36.603519439697266" z="0.003015441820025444"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14413"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.585514068603516" y="-78.9810562133789" z="0.03379634767770767"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14414"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.6567223072052002" y="-143.5908966064453" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14415"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.405670166015625" y="28.103330612182617" z="0.0030877303797751665"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14416"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.034368515014648" y="-79.12865447998047" z="0.03379024565219879"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14417"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.174361228942871" y="-158.0565185546875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14418"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.34603500366211" y="-156.1090850830078" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14419"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.4735240936279297" y="-61.297298431396484" z="0.0338328555226326"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14420"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.162835121154785" y="25.037532806396484" z="0.0030564498156309128"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14421"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.637338638305664" y="25.306760787963867" z="0.003073577769100666"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14422"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-93.9078140258789" y="23.987428665161133" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14423"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.340691566467285" y="-137.60980224609375" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14424"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.292234897613525" y="24.313209533691406" z="0.0030358503572642803"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14425"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="72.58164978027344" y="-14.434184074401855" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14426"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.358885765075684" y="-47.32848358154297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14427"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.12333869934082" y="-64.11931610107422" z="0.03372318297624588"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14428"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="9.209879875183105" y="-39.998504638671875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14429"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.234889984130859" y="85.46124267578125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14430"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="18.809925079345703" y="-22.68226432800293" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14431"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.5519514679908752" y="-84.67639923095703" z="0.03382221236824989"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14410"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14411"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14412"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14413"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14414"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14415"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14416"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14417"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14418"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14419"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14420"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14421"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14422"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14423"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14424"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14425"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14426"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14427"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14428"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14429"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14430"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14431"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14432"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14410"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.929585456848145" y="-155.0712127685547" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14411"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="37.7911262512207" y="90.5811996459961" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14412"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.493317604064941" y="36.603519439697266" z="0.003015441820025444"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14413"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.585514068603516" y="-78.9810562133789" z="0.03379634767770767"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14414"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.6567223072052002" y="-143.5908966064453" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14415"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.405670166015625" y="28.103330612182617" z="0.0030877303797751665"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14416"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.034368515014648" y="-79.12865447998047" z="0.03379024565219879"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14417"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.174361228942871" y="-158.0565185546875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14418"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.34603500366211" y="-156.1090850830078" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14419"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.4735240936279297" y="-61.297298431396484" z="0.0338328555226326"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14420"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.162835121154785" y="25.037532806396484" z="0.0030564498156309128"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14421"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.637338638305664" y="25.306760787963867" z="0.003073577769100666"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14422"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-93.9078140258789" y="23.987428665161133" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14423"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.340691566467285" y="-137.60980224609375" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14424"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.292234897613525" y="24.313209533691406" z="0.0030358503572642803"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14425"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="72.58164978027344" y="-14.434184074401855" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14426"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.358885765075684" y="-47.32848358154297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14427"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.12333869934082" y="-64.11931610107422" z="0.03372318297624588"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14428"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="9.209879875183105" y="-39.998504638671875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14429"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.234889984130859" y="85.46124267578125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14430"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="18.809925079345703" y="-22.68226432800293" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14431"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.5519514679908752" y="-84.67639923095703" z="0.03382221236824989"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14432"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.7150702476501465" y="-72.40501403808594" z="0.033791083842515945"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to request you to add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18233"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18234"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18235"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18236"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18237"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18238"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18239"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18240"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18241"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18242"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18243"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18244"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18245"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18246"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18247"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18248"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18249"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18251"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18252"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18253"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18254"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18255"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18233"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.9156084060668945" y="21.29607391357422" z="0.0030113982502371073"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18234"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.416915893554688" y="-153.5426025390625" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18235"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.777486801147461" y="39.07125473022461" z="0.003026351798325777"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18236"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="73.61369323730469" y="-44.5760612487793" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18237"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="67.87857055664062" y="79.60466766357422" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18238"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="55.4670524597168" y="-31.429418563842773" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18239"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-41.339988708496094" y="-8.678145408630371" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18240"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.172771453857422" y="-64.7530288696289" z="0.033721234649419785"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18241"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.846912384033203" y="-142.46502685546875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18242"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="47.159996032714844" y="-60.63502502441406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18243"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.850752830505371" y="-69.41666412353516" z="0.03380164876580238"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18244"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.346471786499023" y="-70.25605773925781" z="0.0337703712284565"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18245"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-65.61759948730469" y="31.310985565185547" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18246"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="48.52090835571289" y="29.773324966430664" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18247"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-24.75933074951172" y="35.680809020996094" z="0.0030550765804946423"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18248"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.61530590057373" y="31.0440616607666" z="0.0030673216097056866"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18249"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.121699810028076" y="-153.33563232421875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18251"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.531761169433594" y="-163.11392211914062" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18252"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.457807540893555" y="30.33393096923828" z="0.0030469894409179688"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18253"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.868291854858398" y="31.377363204956055" z="0.00306529994122684"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18254"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="26.326732635498047" y="29.60871124267578" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18255"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-59.88346481323242" y="-8.25234317779541" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18233"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18234"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18235"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18236"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18237"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18238"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18239"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18240"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18241"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18242"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18243"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18244"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18245"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18246"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18247"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18248"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18249"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18251"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18252"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18253"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18254"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18255"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18256"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18233"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.9156084060668945" y="21.29607391357422" z="0.0030113982502371073"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18234"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.416915893554688" y="-153.5426025390625" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18235"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.777486801147461" y="39.07125473022461" z="0.003026351798325777"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18236"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="73.61369323730469" y="-44.5760612487793" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18237"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="67.87857055664062" y="79.60466766357422" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18238"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="55.4670524597168" y="-31.429418563842773" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18239"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-41.339988708496094" y="-8.678145408630371" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18240"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.172771453857422" y="-64.7530288696289" z="0.033721234649419785"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18241"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.846912384033203" y="-142.46502685546875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18242"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="47.159996032714844" y="-60.63502502441406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18243"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.850752830505371" y="-69.41666412353516" z="0.03380164876580238"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18244"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.346471786499023" y="-70.25605773925781" z="0.0337703712284565"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18245"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-65.61759948730469" y="31.310985565185547" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18246"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="48.52090835571289" y="29.773324966430664" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18247"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-24.75933074951172" y="35.680809020996094" z="0.0030550765804946423"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18248"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.61530590057373" y="31.0440616607666" z="0.0030673216097056866"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18249"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.121699810028076" y="-153.33563232421875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18251"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.531761169433594" y="-163.11392211914062" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18252"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.457807540893555" y="30.33393096923828" z="0.0030469894409179688"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18253"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.868291854858398" y="31.377363204956055" z="0.00306529994122684"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18254"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="26.326732635498047" y="29.60871124267578" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18255"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-59.88346481323242" y="-8.25234317779541" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18256"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.264851570129395" y="34.775386810302734" z="0.0030982589814811945"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to guide you to remove pedestrian actor named pedestrian_w_transform_22133? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22132"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22133"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22134"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22136"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22137"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22138"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22139"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22140"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22141"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22142"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22143"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22144"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22145"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22146"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22148"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22149"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22150"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22151"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22152"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22153"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22156"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22157"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22160"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22132"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.285594463348389" y="-144.57015991210938" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22133"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-37.408565521240234" y="55.985206604003906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22134"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="36.071929931640625" y="41.10457229614258" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22136"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.436877250671387" y="-151.6528778076172" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22137"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-37.609954833984375" y="30.459104537963867" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22138"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.944694519042969" y="-158.07078552246094" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22139"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="77.2794189453125" y="29.745738983154297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22140"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-52.536529541015625" y="-0.8629797101020813" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22141"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.5561282634735107" y="-65.19246673583984" z="0.03388965502381325"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22142"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="71.3051528930664" y="-70.84683227539062" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22143"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-51.22466278076172" y="-96.53408813476562" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22144"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="38.01337432861328" y="-39.60610580444336" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22145"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-52.61628341674805" y="19.20211410522461" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22146"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="34.86040115356445" y="59.55282211303711" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22148"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.924997329711914" y="28.152124404907227" z="0.0030361555982381105"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22149"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.611807346343994" y="11.389113426208496" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22150"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.31303882598877" y="-69.28656768798828" z="0.03384704515337944"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22151"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="51.864376068115234" y="-18.473121643066406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22152"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.591235339641571" y="35.93418884277344" z="0.0029911804012954235"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22153"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="41.92426681518555" y="-55.55232620239258" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22156"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-67.84457397460938" y="49.4993782043457" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22157"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.848366737365723" y="-145.69374084472656" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22160"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="24.320585250854492" y="-81.42027282714844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22132"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22134"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22136"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22137"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22138"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22139"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22140"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22141"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22142"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22143"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22144"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22145"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22146"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22148"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22149"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22150"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22151"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22152"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22153"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22156"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22157"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22160"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22132"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.285594463348389" y="-144.57015991210938" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22134"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="36.071929931640625" y="41.10457229614258" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22136"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.436877250671387" y="-151.6528778076172" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22137"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-37.609954833984375" y="30.459104537963867" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22138"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.944694519042969" y="-158.07078552246094" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22139"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="77.2794189453125" y="29.745738983154297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22140"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-52.536529541015625" y="-0.8629797101020813" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22141"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.5561282634735107" y="-65.19246673583984" z="0.03388965502381325"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22142"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="71.3051528930664" y="-70.84683227539062" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22143"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-51.22466278076172" y="-96.53408813476562" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22144"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="38.01337432861328" y="-39.60610580444336" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22145"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-52.61628341674805" y="19.20211410522461" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22146"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="34.86040115356445" y="59.55282211303711" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22148"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.924997329711914" y="28.152124404907227" z="0.0030361555982381105"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22149"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.611807346343994" y="11.389113426208496" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22150"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.31303882598877" y="-69.28656768798828" z="0.03384704515337944"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22151"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="51.864376068115234" y="-18.473121643066406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22152"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.591235339641571" y="35.93418884277344" z="0.0029911804012954235"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22153"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="41.92426681518555" y="-55.55232620239258" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22156"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-67.84457397460938" y="49.4993782043457" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22157"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.848366737365723" y="-145.69374084472656" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22160"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="24.320585250854492" y="-81.42027282714844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="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 (3.72, 11.73, 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_hero_15050"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_15051"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_15052"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_15053"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_15054"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_15055"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_15050"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.967649459838867" y="-150.86256408691406" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_15051"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.254148483276367" y="24.605716705322266" z="0.0030567168723791838"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_15052"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="88.1865005493164" y="17.39395523071289" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_15053"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.246833801269531" y="39.087379455566406" z="0.0030650710687041283"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_15054"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.313854932785034" y="-68.14056396484375" z="0.033785589039325714"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_15055"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.037899017333984" y="-148.61007690429688" 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_15050"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_15051"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_15052"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_15053"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_15054"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_15055"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_15056"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_15050"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.967649459838867" y="-150.86256408691406" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_15051"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.254148483276367" y="24.605716705322266" z="0.0030567168723791838"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_15052"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="88.1865005493164" y="17.39395523071289" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_15053"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.246833801269531" y="39.087379455566406" z="0.0030650710687041283"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_15054"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.313854932785034" y="-68.14056396484375" z="0.033785589039325714"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_15055"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.037899017333984" y="-148.61007690429688" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_15056"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="3.7210536003112793" y="11.731342315673828" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="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 (90.08, -85.54, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_21181"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21182"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21184"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21185"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21187"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21188"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_21181"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.5360073447227478" y="-69.1989974975586" z="0.03379760682582855"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21182"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="19.71904945373535" y="68.4841079711914" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21184"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.966733932495117" y="23.62412452697754" z="0.0030723188538104296"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21185"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-96.21283721923828" y="-29.51021385192871" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21187"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-91.96187591552734" y="63.42560958862305" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21188"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-29.95330810546875" y="-76.94771575927734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_21181"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21182"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21184"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21185"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21187"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21188"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21189"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_21181"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.5360073447227478" y="-69.1989974975586" z="0.03379760682582855"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21182"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="19.71904945373535" y="68.4841079711914" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21184"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.966733932495117" y="23.62412452697754" z="0.0030723188538104296"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21185"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-96.21283721923828" y="-29.51021385192871" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21187"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-91.96187591552734" y="63.42560958862305" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21188"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-29.95330810546875" y="-76.94771575927734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21189"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="90.08406829833984" y="-85.53907012939453" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <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 (-40.68, 12.76, 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_23536"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23537"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23538"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23539"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23540"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23541"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23542"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23543"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_23544"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23545"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23536"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.3749918937683105" y="-74.40287780761719" z="0.033791542053222656"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23537"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.274980545043945" y="53.44025802612305" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23538"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="95.10128021240234" y="-48.13248062133789" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23539"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-63.0328483581543" y="-0.7330464124679565" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23540"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.4722535610198975" y="-154.64370727539062" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23541"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-65.7221450805664" y="-10.406968116760254" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23542"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-92.35548400878906" y="-26.766130447387695" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23543"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-29.437877655029297" y="44.94419479370117" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23544"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.493969917297363" y="-56.59577560424805" z="0.033790551126003265"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23545"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.450910568237305" y="-157.1696014404297" 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_23536"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23537"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23538"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23539"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23540"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23541"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23542"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23543"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_23544"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23545"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23546"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23536"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.3749918937683105" y="-74.40287780761719" z="0.033791542053222656"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23537"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.274980545043945" y="53.44025802612305" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23538"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="95.10128021240234" y="-48.13248062133789" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23539"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-63.0328483581543" y="-0.7330464124679565" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23540"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.4722535610198975" y="-154.64370727539062" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23541"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-65.7221450805664" y="-10.406968116760254" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23542"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-92.35548400878906" y="-26.766130447387695" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23543"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-29.437877655029297" y="44.94419479370117" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23544"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.493969917297363" y="-56.59577560424805" z="0.033790551126003265"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23545"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.450910568237305" y="-157.1696014404297" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23546"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-40.67963790893555" y="12.761641502380371" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

remove pedestrian actor named pedestrian_w_transform_1488? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="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_w_transform_1488"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <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_w_transform_1488"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="99.54212951660156" y="27.126924514770508" z="0.5"/> </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_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> ```

please add pedestrian at location (13.24, 47.49, 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_18366"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18367"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18369"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18370"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18371"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18372"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18373"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18374"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18376"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18377"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18378"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18379"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18380"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18381"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18382"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18383"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18384"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18385"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18366"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.162556648254395" y="-76.27542877197266" z="0.033740997314453125"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18367"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.822799682617188" y="30.658594131469727" z="0.003092269878834486"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18369"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-37.776893615722656" y="87.6860580444336" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18370"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-51.42242431640625" y="-0.17296253144741058" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18371"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="13.081941604614258" y="1.2017539739608765" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18372"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.032001495361328" y="45.267940521240234" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18373"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.80210542678833" y="-171.47573852539062" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18374"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.390273094177246" y="33.6540641784668" z="0.0030416869558393955"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18376"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="75.49371337890625" y="58.15104675292969" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18377"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.359635353088379" y="-71.98820495605469" z="0.0338086299598217"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18378"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.84805679321289" y="-72.06102752685547" z="0.033801231533288956"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18379"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.350907325744629" y="37.41714859008789" z="0.0030410767067223787"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18380"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.416340827941895" y="26.632347106933594" z="0.0030323790851980448"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18381"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-74.499267578125" y="-75.45162200927734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18382"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="20.042827606201172" y="-3.6688623428344727" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18383"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-86.08638763427734" y="49.5972785949707" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18384"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.44227123260498" y="-63.06803512573242" z="0.03379463031888008"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18385"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.869277000427246" y="-75.60429382324219" z="0.03383724018931389"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18366"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18367"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18369"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18370"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18371"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18372"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18373"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18374"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18376"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18377"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18378"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18379"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18380"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18381"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18382"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18383"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18384"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18385"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18386"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18366"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.162556648254395" y="-76.27542877197266" z="0.033740997314453125"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18367"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.822799682617188" y="30.658594131469727" z="0.003092269878834486"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18369"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-37.776893615722656" y="87.6860580444336" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18370"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-51.42242431640625" y="-0.17296253144741058" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18371"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="13.081941604614258" y="1.2017539739608765" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18372"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.032001495361328" y="45.267940521240234" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18373"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.80210542678833" y="-171.47573852539062" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18374"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.390273094177246" y="33.6540641784668" z="0.0030416869558393955"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18376"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="75.49371337890625" y="58.15104675292969" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18377"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.359635353088379" y="-71.98820495605469" z="0.0338086299598217"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18378"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.84805679321289" y="-72.06102752685547" z="0.033801231533288956"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18379"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.350907325744629" y="37.41714859008789" z="0.0030410767067223787"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18380"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.416340827941895" y="26.632347106933594" z="0.0030323790851980448"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18381"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-74.499267578125" y="-75.45162200927734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18382"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="20.042827606201172" y="-3.6688623428344727" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18383"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-86.08638763427734" y="49.5972785949707" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18384"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.44227123260498" y="-63.06803512573242" z="0.03379463031888008"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18385"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.869277000427246" y="-75.60429382324219" z="0.03383724018931389"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18386"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="13.24152660369873" y="47.49188232421875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="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_23933"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23934"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23935"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_23936"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23937"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_23938"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23940"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23941"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23942"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23943"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23944"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23945"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23946"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23947"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_23949"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23950"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23951"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23952"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_23953"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23954"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23933"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.588296890258789" y="-152.12681579589844" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23934"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.35063362121582" y="30.3349552154541" z="0.0030637739691883326"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23935"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.2659809589385986" y="20.468923568725586" z="0.003053054679185152"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23936"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.302821159362793" y="-61.00563049316406" z="0.033796194940805435"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23937"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.761425018310547" y="24.937131881713867" z="0.0030521773733198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23938"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.4592788219451904" y="-68.15472412109375" z="0.03378089889883995"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23940"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="53.948848724365234" y="-58.23046875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23941"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-58.748199462890625" y="-74.54839324951172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23942"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.96747875213623" y="31.181259155273438" z="0.0030566405039280653"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23943"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-42.19557571411133" y="-4.942386150360107" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23944"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.257379531860352" y="24.461578369140625" z="0.0030457305256277323"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23945"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.427249908447266" y="-147.10572814941406" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23946"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-86.23851776123047" y="-67.7438735961914" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23947"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.852736711502075" y="-151.9058837890625" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23949"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.022781372070312" y="-68.9250259399414" z="0.03383064270019531"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23950"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.2326644659042358" y="27.22978973388672" z="0.0030707549303770065"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23951"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.199651718139648" y="-161.74041748046875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23952"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.513659477233887" y="26.796199798583984" z="0.0030878446996212006"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23953"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.952415466308594" y="-77.91433715820312" z="0.033816032111644745"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23954"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="63.69145584106445" y="47.140235900878906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23933"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23934"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23935"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_23936"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23937"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_23938"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23940"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23941"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23942"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23943"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23944"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23945"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23946"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23947"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23950"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23951"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23952"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_23953"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23954"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23933"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.588296890258789" y="-152.12681579589844" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23934"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.35063362121582" y="30.3349552154541" z="0.0030637739691883326"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23935"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.2659809589385986" y="20.468923568725586" z="0.003053054679185152"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23936"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.302821159362793" y="-61.00563049316406" z="0.033796194940805435"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23937"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.761425018310547" y="24.937131881713867" z="0.0030521773733198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23938"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.4592788219451904" y="-68.15472412109375" z="0.03378089889883995"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23940"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="53.948848724365234" y="-58.23046875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23941"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-58.748199462890625" y="-74.54839324951172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23942"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.96747875213623" y="31.181259155273438" z="0.0030566405039280653"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23943"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-42.19557571411133" y="-4.942386150360107" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23944"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.257379531860352" y="24.461578369140625" z="0.0030457305256277323"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23945"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.427249908447266" y="-147.10572814941406" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23946"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-86.23851776123047" y="-67.7438735961914" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23947"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.852736711502075" y="-151.9058837890625" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23950"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.2326644659042358" y="27.22978973388672" z="0.0030707549303770065"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23951"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.199651718139648" y="-161.74041748046875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23952"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.513659477233887" y="26.796199798583984" z="0.0030878446996212006"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23953"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.952415466308594" y="-77.91433715820312" z="0.033816032111644745"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23954"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="63.69145584106445" y="47.140235900878906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to command you to add pedestrian at location (-72.43, -64.01, 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_6941"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6942"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6941"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.634389877319336" y="-156.68316650390625" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6942"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-49.874778747558594" y="-63.4664192199707" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6941"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6942"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6943"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6941"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.634389877319336" y="-156.68316650390625" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6942"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-49.874778747558594" y="-63.4664192199707" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6943"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-72.4316177368164" y="-64.01346588134766" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to order you to add pedestrian at location (1.99, -0.38, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19240"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19241"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19242"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19243"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19245"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19246"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19247"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19248"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19249"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19240"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.156517505645752" y="-67.37601470947266" z="0.0337962731719017"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19241"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.345184326171875" y="-156.91427612304688" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19242"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.0128741264343262" y="-177.5703582763672" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19243"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="86.5065689086914" y="-32.92233657836914" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19245"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.756008625030518" y="-66.01492309570312" z="0.033796004951000214"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19246"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.075496673583984" y="-50.44377136230469" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19247"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.540989398956299" y="-61.63713836669922" z="0.03378459811210632"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19248"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.583002090454102" y="-73.85884857177734" z="0.03374340012669563"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19249"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.3144341707229614" y="22.425125122070312" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19240"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19241"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19242"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19243"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19245"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19246"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19247"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19248"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19249"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19250"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19240"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.156517505645752" y="-67.37601470947266" z="0.0337962731719017"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19241"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.345184326171875" y="-156.91427612304688" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19242"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.0128741264343262" y="-177.5703582763672" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19243"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="86.5065689086914" y="-32.92233657836914" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19245"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.756008625030518" y="-66.01492309570312" z="0.033796004951000214"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19246"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.075496673583984" y="-50.44377136230469" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19247"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.540989398956299" y="-61.63713836669922" z="0.03378459811210632"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19248"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.583002090454102" y="-73.85884857177734" z="0.03374340012669563"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19249"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.3144341707229614" y="22.425125122070312" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19250"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.991624355316162" y="-0.3823164403438568" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </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_19864"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19864"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.4827228784561157" y="38.83925247192383" z="0.003025970421731472"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19864"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19867"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19864"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.4827228784561157" y="38.83925247192383" z="0.003025970421731472"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19867"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.844941139221191" y="-64.96673583984375" z="0.03381015732884407"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to command you to add pedestrian at location (37.8, -14.63, 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_hero_13571"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_13572"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_13573"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13574"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_13571"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.422933578491211" y="-143.82798767089844" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_13572"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.798851013183594" y="-161.87110900878906" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_13573"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.576354026794434" y="-66.6739273071289" z="0.03382415696978569"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13574"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-78.31915283203125" y="10.936636924743652" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_13571"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_13572"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_13573"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13574"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13575"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_13571"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.422933578491211" y="-143.82798767089844" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_13572"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.798851013183594" y="-161.87110900878906" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_13573"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.576354026794434" y="-66.6739273071289" z="0.03382415696978569"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13574"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-78.31915283203125" y="10.936636924743652" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13575"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="37.79547882080078" y="-14.633517265319824" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like you to display add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22353"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22354"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22356"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22357"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22358"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22359"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22361"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22362"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22363"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22364"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22365"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22366"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22367"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22353"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.8308088779449463" y="-161.59059143066406" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22354"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-88.91919708251953" y="-32.61262512207031" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22356"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-83.21508026123047" y="96.07604217529297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22357"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.431367874145508" y="-80.93157196044922" z="0.033789750188589096"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22358"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.154729843139648" y="-77.54496765136719" z="0.03379371389746666"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22359"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="38.27001190185547" y="-99.3557357788086" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22361"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-88.2694320678711" y="53.13787078857422" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22362"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="53.79281234741211" y="90.51876068115234" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22363"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-92.5299072265625" y="88.2500228881836" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22364"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="10.349302291870117" y="70.76017761230469" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22365"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.668183326721191" y="32.72417068481445" z="0.003055038396269083"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22366"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.133029460906982" y="32.045772552490234" z="0.0030564498156309128"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22367"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="81.73832702636719" y="52.803253173828125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22353"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22354"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22356"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22357"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22358"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22359"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22361"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22362"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22363"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22364"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22365"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22366"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22367"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22368"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22353"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.8308088779449463" y="-161.59059143066406" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22354"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-88.91919708251953" y="-32.61262512207031" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22356"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-83.21508026123047" y="96.07604217529297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22357"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.431367874145508" y="-80.93157196044922" z="0.033789750188589096"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22358"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.154729843139648" y="-77.54496765136719" z="0.03379371389746666"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22359"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="38.27001190185547" y="-99.3557357788086" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22361"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-88.2694320678711" y="53.13787078857422" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22362"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="53.79281234741211" y="90.51876068115234" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22363"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-92.5299072265625" y="88.2500228881836" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22364"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="10.349302291870117" y="70.76017761230469" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22365"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.668183326721191" y="32.72417068481445" z="0.003055038396269083"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22366"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.133029460906982" y="32.045772552490234" z="0.0030564498156309128"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22367"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="81.73832702636719" y="52.803253173828125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22368"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.216815948486328" y="28.63270378112793" z="0.0030587767250835896"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to instruct you to add pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_15038"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_15039"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_15040"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_15041"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_15042"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_15038"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.1373528242111206" y="-162.16635131835938" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_15039"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="86.09203338623047" y="92.11853790283203" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_15040"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.126224994659424" y="-73.18059539794922" z="0.033813972026109695"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_15041"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.3486684560775757" y="-63.863059997558594" z="0.03380145877599716"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_15042"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.093996047973633" y="98.3707046508789" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_15038"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_15039"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_15040"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_15041"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_15042"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_15043"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_15038"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.1373528242111206" y="-162.16635131835938" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_15039"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="86.09203338623047" y="92.11853790283203" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_15040"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.126224994659424" y="-73.18059539794922" z="0.033813972026109695"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_15041"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.3486684560775757" y="-63.863059997558594" z="0.03380145877599716"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_15042"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.093996047973633" y="98.3707046508789" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_15043"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.560259819030762" y="-148.4917449951172" 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 command you to add pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10571"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10572"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10573"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10574"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10571"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.2959998846054077" y="-79.9268798828125" z="0.033798787742853165"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10572"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-93.01426696777344" y="46.618873596191406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10573"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.680667877197266" y="-12.240006446838379" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10574"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-86.59607696533203" y="-50.62507629394531" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10571"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10572"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10573"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10574"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_10575"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10571"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.2959998846054077" y="-79.9268798828125" z="0.033798787742853165"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10572"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-93.01426696777344" y="46.618873596191406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10573"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.680667877197266" y="-12.240006446838379" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10574"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-86.59607696533203" y="-50.62507629394531" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_10575"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.0512752532958984" y="-159.84254455566406" 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 remove pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21511"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_21512"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_21513"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_21514"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21515"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21516"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_21517"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21518"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21519"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21520"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_21521"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21522"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21523"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21524"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_21525"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21526"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21527"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_21528"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_21529"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21530"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_21531"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_21532"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_21533"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21534"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_21535"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21536"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21537"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21538"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_21539"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21540"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21511"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.8143763542175293" y="36.14751052856445" z="0.003053588792681694"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_21512"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-20.0859432220459" y="-145.01478576660156" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_21513"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.785894870758057" y="-156.00990295410156" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_21514"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.1947660446167" y="-156.7368621826172" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21515"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.816110134124756" y="-2.590832233428955" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21516"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="27.52660369873047" y="4.7678961753845215" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_21517"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.766505718231201" y="-161.08401489257812" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21518"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-25.077760696411133" y="-65.58474731445312" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21519"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.395341396331787" y="82.06703186035156" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21520"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.710617065429688" y="23.371692657470703" z="0.0030500793363898993"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_21521"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.614784240722656" y="-71.46858215332031" z="0.03376106172800064"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21522"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.020751953125" y="11.668867111206055" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21523"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="34.269588470458984" y="-28.35492515563965" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21524"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.281740188598633" y="39.455284118652344" z="0.003073310712352395"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_21525"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.27996063232422" y="-148.624755859375" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21526"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-25.390941619873047" y="-99.48463439941406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21527"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-0.9988304972648621" y="36.04051208496094" z="0.0031147003173828125"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_21528"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.092128276824951" y="-149.63616943359375" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_21529"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.1234444379806519" y="-80.25667572021484" z="0.03378612548112869"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21530"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.263069152832031" y="20.119220733642578" z="0.0031076811719685793"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_21531"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.541027069091797" y="-69.01571655273438" z="0.03379867598414421"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_21532"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.995823860168457" y="-144.0084686279297" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_21533"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.446937561035156" y="-154.1290283203125" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21534"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.618732452392578" y="34.47037124633789" z="0.003059654263779521"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_21535"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.41353416442871" y="-145.1541290283203" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21536"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-66.96919250488281" y="78.05655670166016" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21537"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-82.23236083984375" y="66.4310302734375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21538"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="76.06048583984375" y="-56.94879150390625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_21539"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.14360523223877" y="-63.61405944824219" z="0.03385360538959503"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21540"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.558785438537598" y="19.77303695678711" z="0.0030971907544881105"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21511"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_21512"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_21513"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_21514"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21515"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21516"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_21517"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21518"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21519"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21520"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_21521"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21522"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21523"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21524"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_21525"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21526"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21527"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_21528"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_21529"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_21531"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_21532"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_21533"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21534"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_21535"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21536"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21537"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21538"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_21539"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21540"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21511"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.8143763542175293" y="36.14751052856445" z="0.003053588792681694"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_21512"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-20.0859432220459" y="-145.01478576660156" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_21513"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.785894870758057" y="-156.00990295410156" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_21514"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.1947660446167" y="-156.7368621826172" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21515"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.816110134124756" y="-2.590832233428955" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21516"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="27.52660369873047" y="4.7678961753845215" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_21517"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.766505718231201" y="-161.08401489257812" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21518"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-25.077760696411133" y="-65.58474731445312" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21519"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.395341396331787" y="82.06703186035156" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21520"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.710617065429688" y="23.371692657470703" z="0.0030500793363898993"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_21521"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.614784240722656" y="-71.46858215332031" z="0.03376106172800064"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21522"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.020751953125" y="11.668867111206055" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21523"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="34.269588470458984" y="-28.35492515563965" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21524"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.281740188598633" y="39.455284118652344" z="0.003073310712352395"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_21525"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.27996063232422" y="-148.624755859375" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21526"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-25.390941619873047" y="-99.48463439941406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21527"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-0.9988304972648621" y="36.04051208496094" z="0.0031147003173828125"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_21528"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.092128276824951" y="-149.63616943359375" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_21529"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.1234444379806519" y="-80.25667572021484" z="0.03378612548112869"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_21531"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.541027069091797" y="-69.01571655273438" z="0.03379867598414421"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_21532"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.995823860168457" y="-144.0084686279297" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_21533"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.446937561035156" y="-154.1290283203125" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21534"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.618732452392578" y="34.47037124633789" z="0.003059654263779521"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_21535"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.41353416442871" y="-145.1541290283203" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21536"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-66.96919250488281" y="78.05655670166016" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21537"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-82.23236083984375" y="66.4310302734375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21538"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="76.06048583984375" y="-56.94879150390625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_21539"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.14360523223877" y="-63.61405944824219" z="0.03385360538959503"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21540"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.558785438537598" y="19.77303695678711" z="0.0030971907544881105"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </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_hero_3458"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3459"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_3460"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3461"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_3462"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_3463"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_3464"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_3465"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_3466"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_3467"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_3468"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3469"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3470"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3471"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3458"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.969569206237793" y="-161.77406311035156" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3459"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-82.49211120605469" y="-53.626468658447266" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3460"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.4948563575744629" y="-143.04437255859375" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3461"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-69.82150268554688" y="72.27068328857422" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_3462"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.298923492431641" y="35.18164825439453" z="0.0030886076856404543"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3463"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.649158239364624" y="-154.55995178222656" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_3464"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.0970853567123413" y="29.57878875732422" z="0.0031261444091796875"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3465"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.734149932861328" y="-152.3632354736328" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_3466"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-22.386737823486328" y="28.93075180053711" z="0.0030970382504165173"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_3467"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.62708854675293" y="20.592700958251953" z="0.003062400734052062"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_3468"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.980868339538574" y="-63.64146423339844" z="0.0338127501308918"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3469"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="32.94906234741211" y="-10.843595504760742" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3470"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-56.336578369140625" y="33.9784049987793" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3471"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-24.551166534423828" y="50.57032012939453" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_3458"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3459"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_3460"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3461"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_3462"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_3463"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_3464"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_3465"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_3466"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_3467"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_3468"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3469"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3470"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3471"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_3472"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3458"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.969569206237793" y="-161.77406311035156" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3459"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-82.49211120605469" y="-53.626468658447266" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3460"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.4948563575744629" y="-143.04437255859375" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3461"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-69.82150268554688" y="72.27068328857422" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_3462"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.298923492431641" y="35.18164825439453" z="0.0030886076856404543"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3463"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.649158239364624" y="-154.55995178222656" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_3464"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.0970853567123413" y="29.57878875732422" z="0.0031261444091796875"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3465"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.734149932861328" y="-152.3632354736328" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_3466"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-22.386737823486328" y="28.93075180053711" z="0.0030970382504165173"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_3467"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.62708854675293" y="20.592700958251953" z="0.003062400734052062"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_3468"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.980868339538574" y="-63.64146423339844" z="0.0338127501308918"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3469"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="32.94906234741211" y="-10.843595504760742" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3470"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-56.336578369140625" y="33.9784049987793" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3471"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-24.551166534423828" y="50.57032012939453" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3472"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.570500373840332" y="-153.58779907226562" 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 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_21698"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21699"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_21700"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21701"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21702"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_21703"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21704"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21705"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21706"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21707"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21709"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21710"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21711"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21712"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21698"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.249245643615723" y="23.70134735107422" z="0.0030535124242305756"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21699"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="77.07469177246094" y="95.63712310791016" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_21700"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.519122123718262" y="-149.09254455566406" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21701"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="66.40209197998047" y="-11.1533203125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21702"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-41.47203063964844" y="14.584179878234863" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_21703"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.527767181396484" y="-147.89280700683594" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21704"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="9.35296630859375" y="37.89149475097656" z="0.0030429840553551912"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21705"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.216498851776123" y="24.657621383666992" z="0.0030522537417709827"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21706"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="36.01476287841797" y="-79.3497314453125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21707"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="9.945098876953125" y="-15.287124633789062" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21709"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.745425701141357" y="32.778282165527344" z="0.0030065535102039576"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21710"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="10.019943237304688" y="63.646480560302734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21711"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.84721565246582" y="32.600982666015625" z="0.0030291746370494366"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21712"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.128840923309326" y="35.272125244140625" z="0.003059234470129013"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21698"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21699"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_21700"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21701"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21702"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_21703"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21704"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21705"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21706"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21707"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21709"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21710"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21711"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21712"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_21713"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21698"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.249245643615723" y="23.70134735107422" z="0.0030535124242305756"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21699"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="77.07469177246094" y="95.63712310791016" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_21700"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.519122123718262" y="-149.09254455566406" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21701"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="66.40209197998047" y="-11.1533203125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21702"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-41.47203063964844" y="14.584179878234863" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_21703"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.527767181396484" y="-147.89280700683594" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21704"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="9.35296630859375" y="37.89149475097656" z="0.0030429840553551912"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21705"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.216498851776123" y="24.657621383666992" z="0.0030522537417709827"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21706"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="36.01476287841797" y="-79.3497314453125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21707"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="9.945098876953125" y="-15.287124633789062" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21709"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.745425701141357" y="32.778282165527344" z="0.0030065535102039576"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21710"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="10.019943237304688" y="63.646480560302734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21711"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.84721565246582" y="32.600982666015625" z="0.0030291746370494366"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21712"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.128840923309326" y="35.272125244140625" z="0.003059234470129013"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_21713"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.143806457519531" y="-64.2979507446289" z="0.03377532958984375"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </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 (-58.0, -74.52, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_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> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <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> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="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> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <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> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <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 (44.18, 55.91, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18306"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18307"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18308"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18309"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18310"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18311"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18312"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18313"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18314"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18315"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18316"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18317"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18318"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18319"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18320"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18321"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18322"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18323"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18324"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18306"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.459327697753906" y="-71.10528564453125" z="0.03379058837890625"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18307"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="22.480178833007812" y="-39.77798080444336" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18308"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-27.963045120239258" y="20.109466552734375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18309"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.124112129211426" y="24.58140754699707" z="0.003020400879904628"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18310"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.6426738500595093" y="30.317827224731445" z="0.0030318067874759436"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18311"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-35.70688247680664" y="-37.32094955444336" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18312"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.891424179077148" y="-20.907976150512695" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18313"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.622621536254883" y="-160.67877197265625" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18314"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.6118403673171997" y="-147.00177001953125" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18315"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.88220477104187" y="-156.2039794921875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18316"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.067000865936279" y="35.595523834228516" z="0.0031115722376853228"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18317"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.540885925292969" y="28.23246192932129" z="0.0030886458698660135"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18318"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-89.88253784179688" y="-32.21002197265625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18319"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.429882049560547" y="-64.86023712158203" z="0.03376499190926552"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18320"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.142507553100586" y="-156.12277221679688" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18321"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.6051836013793945" y="-68.87400817871094" z="0.03382427245378494"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18322"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.106704235076904" y="-159.17701721191406" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18323"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.759830951690674" y="-154.22108459472656" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18324"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.88823127746582" y="-158.9281463623047" 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_18306"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18307"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18308"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18309"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18310"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18311"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18312"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18313"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18314"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18315"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18316"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18317"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18318"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18319"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18320"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18321"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18322"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18323"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18324"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18325"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18306"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.459327697753906" y="-71.10528564453125" z="0.03379058837890625"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18307"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="22.480178833007812" y="-39.77798080444336" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18308"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-27.963045120239258" y="20.109466552734375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18309"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.124112129211426" y="24.58140754699707" z="0.003020400879904628"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18310"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.6426738500595093" y="30.317827224731445" z="0.0030318067874759436"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18311"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-35.70688247680664" y="-37.32094955444336" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18312"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.891424179077148" y="-20.907976150512695" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18313"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.622621536254883" y="-160.67877197265625" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18314"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.6118403673171997" y="-147.00177001953125" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18315"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.88220477104187" y="-156.2039794921875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18316"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.067000865936279" y="35.595523834228516" z="0.0031115722376853228"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18317"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.540885925292969" y="28.23246192932129" z="0.0030886458698660135"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18318"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-89.88253784179688" y="-32.21002197265625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18319"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.429882049560547" y="-64.86023712158203" z="0.03376499190926552"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18320"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.142507553100586" y="-156.12277221679688" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18321"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.6051836013793945" y="-68.87400817871094" z="0.03382427245378494"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18322"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.106704235076904" y="-159.17701721191406" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18323"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.759830951690674" y="-154.22108459472656" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18324"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.88823127746582" y="-158.9281463623047" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18325"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="44.18285369873047" y="55.91053771972656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

could you add pedestrian close to adversary? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24033"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24034"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24033"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.707935333251953" y="32.15628433227539" z="0.003053321735933423"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24034"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.998943328857422" y="29.27120590209961" z="0.0030572128016501665"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24033"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24034"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24035"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24033"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.707935333251953" y="32.15628433227539" z="0.003053321735933423"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24034"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.998943328857422" y="29.27120590209961" z="0.0030572128016501665"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24035"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.857484817504883" y="-65.91021728515625" z="0.033821601420640945"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to direct you to add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_687"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_688"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_689"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_690"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_691"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_692"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_693"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_694"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_695"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_696"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_697"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_698"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_699"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_700"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_687"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.12013053894043" y="37.96761703491211" z="0.003029899438843131"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_688"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-91.1971435546875" y="-34.2224006652832" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_689"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.7375094890594482" y="-160.86036682128906" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_690"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-36.216556549072266" y="2.8242623805999756" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_691"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="64.25556945800781" y="46.94959259033203" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_692"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-35.316551208496094" y="84.50396728515625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_693"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-98.64053344726562" y="-77.11675262451172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_694"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="21.41590118408203" y="-1.8566365242004395" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_695"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-67.87628173828125" y="46.639427185058594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_696"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.572104454040527" y="-90.91372680664062" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_697"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.011123657226562" y="-158.3162841796875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_698"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.52126407623291" y="-76.91416931152344" z="0.03387130796909332"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_699"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="44.64320755004883" y="9.962248802185059" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_700"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.0701117515563965" y="2.4542288780212402" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_687"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_688"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_689"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_690"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_691"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_692"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_693"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_694"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_695"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_696"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_697"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_698"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_699"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_700"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_701"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_687"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.12013053894043" y="37.96761703491211" z="0.003029899438843131"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_688"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-91.1971435546875" y="-34.2224006652832" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_689"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.7375094890594482" y="-160.86036682128906" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_690"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-36.216556549072266" y="2.8242623805999756" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_691"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="64.25556945800781" y="46.94959259033203" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_692"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-35.316551208496094" y="84.50396728515625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_693"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-98.64053344726562" y="-77.11675262451172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_694"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="21.41590118408203" y="-1.8566365242004395" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_695"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-67.87628173828125" y="46.639427185058594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_696"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.572104454040527" y="-90.91372680664062" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_697"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.011123657226562" y="-158.3162841796875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_698"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.52126407623291" y="-76.91416931152344" z="0.03387130796909332"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_699"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="44.64320755004883" y="9.962248802185059" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_700"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.0701117515563965" y="2.4542288780212402" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_701"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.177075386047363" y="27.740198135375977" z="0.0030563354957848787"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="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 (-55.36, -0.58, 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_hero_19958"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19959"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19961"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19962"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19963"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19964"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19965"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19967"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19968"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19969"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19970"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19971"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19972"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19973"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19974"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19975"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19958"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.526895523071289" y="-156.96817016601562" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19959"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.2508673667907715" y="31.579673767089844" z="0.003046226454898715"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19961"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="92.23485565185547" y="-44.566856384277344" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19962"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.538885593414307" y="-62.69538879394531" z="0.033822592347860336"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19963"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="92.20530700683594" y="-3.7218384742736816" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19964"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.367124557495117" y="-70.53658294677734" z="0.03381847217679024"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19965"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-56.877685546875" y="-26.83835792541504" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19967"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="10.413885116577148" y="-3.6783242225646973" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19968"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-22.087177276611328" y="-47.39189910888672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19969"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.843998908996582" y="-70.8131332397461" z="0.03376857563853264"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19970"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-53.36238098144531" y="32.04876708984375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19971"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.257627010345459" y="-148.8526153564453" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19972"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.2922604084014893" y="21.521533966064453" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19973"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.606645584106445" y="-61.62210464477539" z="0.03383678197860718"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19974"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="84.44046020507812" y="-48.80355453491211" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19975"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.68799591064453" y="-74.59319305419922" z="0.03383884206414223"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19958"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19959"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19961"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19962"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19963"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19964"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19965"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19967"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19968"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19969"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19970"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19971"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19972"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19973"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19974"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19975"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19976"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19958"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.526895523071289" y="-156.96817016601562" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19959"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.2508673667907715" y="31.579673767089844" z="0.003046226454898715"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19961"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="92.23485565185547" y="-44.566856384277344" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19962"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.538885593414307" y="-62.69538879394531" z="0.033822592347860336"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19963"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="92.20530700683594" y="-3.7218384742736816" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19964"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.367124557495117" y="-70.53658294677734" z="0.03381847217679024"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19965"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-56.877685546875" y="-26.83835792541504" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19967"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="10.413885116577148" y="-3.6783242225646973" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19968"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-22.087177276611328" y="-47.39189910888672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19969"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.843998908996582" y="-70.8131332397461" z="0.03376857563853264"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19970"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-53.36238098144531" y="32.04876708984375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19971"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.257627010345459" y="-148.8526153564453" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19972"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.2922604084014893" y="21.521533966064453" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19973"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.606645584106445" y="-61.62210464477539" z="0.03383678197860718"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19974"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="84.44046020507812" y="-48.80355453491211" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19975"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.68799591064453" y="-74.59319305419922" z="0.03383884206414223"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19976"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-55.36106491088867" y="-0.5770300626754761" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </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_5024"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5025"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5026"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_5027"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5028"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_5029"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_5030"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_5031"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5032"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5033"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_5024"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.18695068359375" y="-156.67135620117188" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5025"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-39.84116744995117" y="-3.403822898864746" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5026"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="27.74521255493164" y="9.175400733947754" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_5027"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.765722274780273" y="23.121742248535156" z="0.0031011581886559725"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5028"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="95.48519897460938" y="43.37620544433594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_5029"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.195058822631836" y="-159.4083251953125" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_5030"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.721390247344971" y="-66.82649230957031" z="0.03383117541670799"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_5031"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.756980895996094" y="21.168437957763672" z="0.0030517959967255592"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5032"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="33.960697174072266" y="-91.22720336914062" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5033"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-55.40616226196289" y="-55.653194427490234" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_5024"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5025"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5026"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_5027"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5028"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_5029"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_5030"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_5031"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5032"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5033"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_5034"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_5024"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.18695068359375" y="-156.67135620117188" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5025"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-39.84116744995117" y="-3.403822898864746" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5026"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="27.74521255493164" y="9.175400733947754" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_5027"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.765722274780273" y="23.121742248535156" z="0.0031011581886559725"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5028"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="95.48519897460938" y="43.37620544433594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_5029"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.195058822631836" y="-159.4083251953125" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_5030"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.721390247344971" y="-66.82649230957031" z="0.03383117541670799"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_5031"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.756980895996094" y="21.168437957763672" z="0.0030517959967255592"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5032"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="33.960697174072266" y="-91.22720336914062" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5033"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-55.40616226196289" y="-55.653194427490234" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_5034"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.196643829345703" y="-80.17969512939453" z="0.033818550407886505"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to request you to add pedestrian at location (58.91, -47.44, 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_23162"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23163"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23164"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_23165"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23166"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23167"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23168"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23169"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23170"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_23171"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23172"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23173"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23174"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23175"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23176"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23177"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23178"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_23179"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23181"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23182"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23184"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23162"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.787224531173706" y="-62.710697174072266" z="0.03381458297371864"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23163"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="49.49680709838867" y="76.31072998046875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23164"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="54.20225143432617" y="72.63856506347656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23165"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.379310607910156" y="-61.24156951904297" z="0.033797722309827805"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23166"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.829765796661377" y="20.18578338623047" z="0.0030627059750258923"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23167"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.751472473144531" y="-148.71730041503906" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23168"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.3899383544921875" y="-156.4252166748047" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23169"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="98.92438507080078" y="-44.93437576293945" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23170"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.29150390625" y="-159.5087127685547" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23171"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.501001358032227" y="-65.42442321777344" z="0.033808860927820206"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23172"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.978555202484131" y="32.553565979003906" z="0.0030685041565448046"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23173"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="12.612255096435547" y="-29.72876739501953" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23174"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-22.613862991333008" y="-21.171966552734375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23175"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.528959274291992" y="-159.28785705566406" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23176"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-83.3355712890625" y="-36.220298767089844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23177"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-76.91526794433594" y="68.75957489013672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23178"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.033119201660156" y="-143.6855926513672" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23179"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.667096138000488" y="-70.16284942626953" z="0.03378303349018097"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23181"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.417012214660645" y="-160.65501403808594" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23182"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-88.5479736328125" y="-11.367029190063477" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23184"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.7307710647583" y="-154.15174865722656" 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_23162"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23163"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23164"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_23165"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23166"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23167"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23168"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23169"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23170"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_23171"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23172"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23173"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23174"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23175"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23176"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23177"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23178"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_23179"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23181"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23182"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23184"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23185"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23162"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.787224531173706" y="-62.710697174072266" z="0.03381458297371864"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23163"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="49.49680709838867" y="76.31072998046875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23164"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="54.20225143432617" y="72.63856506347656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23165"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.379310607910156" y="-61.24156951904297" z="0.033797722309827805"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23166"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.829765796661377" y="20.18578338623047" z="0.0030627059750258923"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23167"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.751472473144531" y="-148.71730041503906" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23168"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.3899383544921875" y="-156.4252166748047" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23169"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="98.92438507080078" y="-44.93437576293945" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23170"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.29150390625" y="-159.5087127685547" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23171"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.501001358032227" y="-65.42442321777344" z="0.033808860927820206"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23172"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.978555202484131" y="32.553565979003906" z="0.0030685041565448046"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23173"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="12.612255096435547" y="-29.72876739501953" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23174"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-22.613862991333008" y="-21.171966552734375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23175"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.528959274291992" y="-159.28785705566406" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23176"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-83.3355712890625" y="-36.220298767089844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23177"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-76.91526794433594" y="68.75957489013672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23178"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.033119201660156" y="-143.6855926513672" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23179"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.667096138000488" y="-70.16284942626953" z="0.03378303349018097"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23181"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.417012214660645" y="-160.65501403808594" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23182"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-88.5479736328125" y="-11.367029190063477" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23184"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.7307710647583" y="-154.15174865722656" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23185"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="58.906742095947266" y="-47.44307327270508" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to command you to add pedestrian close to adversary? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20860"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20861"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20862"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20860"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.292752742767334" y="-157.23587036132812" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20861"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-68.20599365234375" y="-96.60189819335938" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20862"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-94.91527557373047" y="29.79668426513672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20860"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20861"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20862"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20863"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20860"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.292752742767334" y="-157.23587036132812" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20861"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-68.20599365234375" y="-96.60189819335938" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20862"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-94.91527557373047" y="29.79668426513672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20863"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.01497459411621" y="-65.4958724975586" z="0.033804167062044144"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="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 (-43.54, 10.7, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_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> <ScenarioObject name="pedestrian_close_to_adversary_5306"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5307"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5308"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5311"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5312"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_5313"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_5314"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5315"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <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> <Private entityRef="pedestrian_close_to_adversary_5306"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.0562864542007446" y="-76.1018295288086" z="0.03387515991926193"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5307"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="90.42718505859375" y="-77.99192810058594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5308"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="75.24150848388672" y="85.64749145507812" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5311"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="75.61588287353516" y="72.43103790283203" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5312"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="44.100669860839844" y="-54.10603713989258" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_5313"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.9318430423736572" y="-159.514892578125" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_5314"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.89814281463623" y="-75.52561950683594" z="0.03383472189307213"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5315"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.361311912536621" y="-24.5548038482666" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="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> <ScenarioObject name="pedestrian_close_to_adversary_5306"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5307"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5308"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5311"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5312"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_5313"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_5314"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5315"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5316"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <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> <Private entityRef="pedestrian_close_to_adversary_5306"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.0562864542007446" y="-76.1018295288086" z="0.03387515991926193"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5307"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="90.42718505859375" y="-77.99192810058594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5308"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="75.24150848388672" y="85.64749145507812" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5311"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="75.61588287353516" y="72.43103790283203" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5312"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="44.100669860839844" y="-54.10603713989258" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_5313"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.9318430423736572" y="-159.514892578125" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_5314"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.89814281463623" y="-75.52561950683594" z="0.03383472189307213"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5315"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.361311912536621" y="-24.5548038482666" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5316"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-43.538238525390625" y="10.695622444152832" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like you to add pedestrian at location (97.1, 12.56, 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_3694"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3696"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_3697"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3698"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_3694"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.187708854675293" y="17.370250701904297" z="0.003083457937464118"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3696"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-41.2945442199707" y="-5.843010425567627" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_3697"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.432957649230957" y="-80.52764892578125" z="0.03379238024353981"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3698"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-53.63603591918945" y="-2.8848257064819336" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_3694"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3696"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_3697"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3698"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3699"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_3694"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.187708854675293" y="17.370250701904297" z="0.003083457937464118"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3696"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-41.2945442199707" y="-5.843010425567627" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_3697"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.432957649230957" y="-80.52764892578125" z="0.03379238024353981"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3698"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-53.63603591918945" y="-2.8848257064819336" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3699"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="97.10001373291016" y="12.556416511535645" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to command you to add pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_3296"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3297"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3298"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3299"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_3300"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3301"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_3303"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3304"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3305"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3306"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3307"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3308"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_3296"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.182534217834473" y="-68.62300872802734" z="0.03380843997001648"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3297"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="57.25657653808594" y="1.8801876306533813" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3298"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.05985689163208" y="1.5204355716705322" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3299"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-35.040592193603516" y="-36.6047477722168" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_3300"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.1939092874526978" y="-68.32646942138672" z="0.03381446748971939"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3301"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-38.115726470947266" y="3.0626132488250732" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3303"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.1565914154052734" y="-155.8390655517578" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3304"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="44.966121673583984" y="5.702414035797119" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3305"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.3827785551548004" y="-52.189666748046875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3306"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.7835001945495605" y="-26.402023315429688" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3307"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="65.9091796875" y="71.59765625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3308"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-95.4700927734375" y="74.0670166015625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_3296"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3297"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3298"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3299"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_3300"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3301"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_3303"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3304"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3305"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3306"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3307"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3308"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_3309"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_3296"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.182534217834473" y="-68.62300872802734" z="0.03380843997001648"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3297"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="57.25657653808594" y="1.8801876306533813" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3298"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.05985689163208" y="1.5204355716705322" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3299"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-35.040592193603516" y="-36.6047477722168" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_3300"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.1939092874526978" y="-68.32646942138672" z="0.03381446748971939"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3301"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-38.115726470947266" y="3.0626132488250732" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3303"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.1565914154052734" y="-155.8390655517578" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3304"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="44.966121673583984" y="5.702414035797119" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3305"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.3827785551548004" y="-52.189666748046875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3306"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.7835001945495605" y="-26.402023315429688" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3307"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="65.9091796875" y="71.59765625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3308"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-95.4700927734375" y="74.0670166015625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3309"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.347267150878906" y="-151.16012573242188" 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> ```

please add pedestrian at location (50.17, 25.44, 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_11351"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11352"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11353"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11354"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_11355"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11356"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11357"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_11358"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11359"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_11360"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11361"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11351"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.365954399108887" y="-79.958740234375" z="0.03381267562508583"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11352"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-21.06924057006836" y="-57.68798065185547" z="0.033809125423431396"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11353"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-87.83177185058594" y="25.03801918029785" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11354"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-53.912353515625" y="2.1757988929748535" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_11355"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.444341659545898" y="28.994985580444336" z="0.0030521773733198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11356"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.41309118270874" y="-11.029565811157227" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11357"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-63.046321868896484" y="84.58687591552734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_11358"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.6617860794067383" y="26.564332962036133" z="0.003039398230612278"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11359"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="66.80840301513672" y="-36.845489501953125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_11360"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.9319331645965576" y="-160.60281372070312" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11361"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-88.88860321044922" y="-30.93819808959961" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11351"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11352"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11353"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11354"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_11355"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11356"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11357"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_11358"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11359"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_11360"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11361"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11362"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11351"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.365954399108887" y="-79.958740234375" z="0.03381267562508583"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11352"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-21.06924057006836" y="-57.68798065185547" z="0.033809125423431396"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11353"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-87.83177185058594" y="25.03801918029785" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11354"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-53.912353515625" y="2.1757988929748535" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_11355"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.444341659545898" y="28.994985580444336" z="0.0030521773733198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11356"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.41309118270874" y="-11.029565811157227" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11357"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-63.046321868896484" y="84.58687591552734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_11358"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.6617860794067383" y="26.564332962036133" z="0.003039398230612278"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11359"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="66.80840301513672" y="-36.845489501953125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_11360"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.9319331645965576" y="-160.60281372070312" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11361"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-88.88860321044922" y="-30.93819808959961" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11362"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="50.173465728759766" y="25.436538696289062" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="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 (-79.82, 33.31, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16821"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16822"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16823"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16824"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16825"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16826"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16827"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16828"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16829"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16830"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16831"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16832"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16833"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16834"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16835"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16836"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16837"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16839"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16840"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16821"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.21177397668361664" y="-71.68793487548828" z="0.03375415876507759"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16822"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.038930892944336" y="-76.22100830078125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16823"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.8422043323516846" y="-76.75341796875" z="0.03374900668859482"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16824"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.850495338439941" y="36.21449279785156" z="0.002996597206220031"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16825"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="85.89476776123047" y="-42.63752746582031" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16826"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.264700412750244" y="-159.41810607910156" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16827"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="77.11689758300781" y="39.207969665527344" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16828"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.985431671142578" y="-147.29660034179688" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16829"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.4359090328216553" y="-45.763954162597656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16830"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-59.817508697509766" y="84.57937622070312" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16831"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.366320610046387" y="-76.2969970703125" z="0.033861082047224045"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16832"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.346487045288086" y="-79.71735382080078" z="0.033847883343696594"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16833"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.5784010887146" y="-69.17664337158203" z="0.03386630862951279"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16834"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.43589973449707" y="38.1754150390625" z="0.0030425642617046833"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16835"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.587392807006836" y="22.472732543945312" z="0.003031310858204961"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16836"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.6797906160354614" y="38.502681732177734" z="0.0030464171431958675"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16837"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.88487434387207" y="7.493663311004639" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16839"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.860733032226562" y="35.15000915527344" z="0.0030376433860510588"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16840"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.9144744873046875" y="-71.28903198242188" z="0.03379096835851669"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16821"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16822"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16823"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16824"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16825"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16826"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16827"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16828"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16829"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16830"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16831"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16832"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16833"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16834"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16835"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16836"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16837"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16839"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16840"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16841"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16821"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.21177397668361664" y="-71.68793487548828" z="0.03375415876507759"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16822"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.038930892944336" y="-76.22100830078125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16823"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.8422043323516846" y="-76.75341796875" z="0.03374900668859482"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16824"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.850495338439941" y="36.21449279785156" z="0.002996597206220031"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16825"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="85.89476776123047" y="-42.63752746582031" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16826"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.264700412750244" y="-159.41810607910156" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16827"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="77.11689758300781" y="39.207969665527344" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16828"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.985431671142578" y="-147.29660034179688" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16829"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.4359090328216553" y="-45.763954162597656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16830"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-59.817508697509766" y="84.57937622070312" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16831"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.366320610046387" y="-76.2969970703125" z="0.033861082047224045"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16832"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.346487045288086" y="-79.71735382080078" z="0.033847883343696594"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16833"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.5784010887146" y="-69.17664337158203" z="0.03386630862951279"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16834"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.43589973449707" y="38.1754150390625" z="0.0030425642617046833"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16835"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.587392807006836" y="22.472732543945312" z="0.003031310858204961"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16836"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.6797906160354614" y="38.502681732177734" z="0.0030464171431958675"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16837"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.88487434387207" y="7.493663311004639" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16839"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.860733032226562" y="35.15000915527344" z="0.0030376433860510588"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16840"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.9144744873046875" y="-71.28903198242188" z="0.03379096835851669"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16841"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-79.82410430908203" y="33.30699920654297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

remove pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_5134"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5135"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_5137"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5138"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_5141"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_5144"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_5145"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5146"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5147"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_5148"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5149"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_5151"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_5152"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_5134"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.612869262695312" y="-68.85762786865234" z="0.03379066288471222"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5135"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="30.582061767578125" y="-25.12258529663086" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_5137"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.422439575195312" y="-67.75189208984375" z="0.03382629156112671"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5138"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-99.7695083618164" y="18.981931686401367" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_5141"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.4422502517700195" y="-159.33840942382812" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_5144"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.148643493652344" y="-68.1097412109375" z="0.03369148075580597"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_5145"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.0366902351379395" y="-151.3964080810547" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5146"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.088927268981934" y="91.17041778564453" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5147"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="46.54937744140625" y="74.69668579101562" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_5148"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.910999298095703" y="-170.1141815185547" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5149"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-25.537500381469727" y="46.44368362426758" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_5151"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.455611228942871" y="-70.77421569824219" z="0.03381748124957085"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_5152"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.289114952087402" y="-159.874267578125" 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_5134"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5135"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_5137"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5138"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_5141"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_5144"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_5145"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5146"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5147"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_5148"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5149"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_5151"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_5134"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.612869262695312" y="-68.85762786865234" z="0.03379066288471222"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5135"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="30.582061767578125" y="-25.12258529663086" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_5137"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.422439575195312" y="-67.75189208984375" z="0.03382629156112671"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5138"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-99.7695083618164" y="18.981931686401367" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_5141"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.4422502517700195" y="-159.33840942382812" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_5144"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.148643493652344" y="-68.1097412109375" z="0.03369148075580597"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_5145"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.0366902351379395" y="-151.3964080810547" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5146"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.088927268981934" y="91.17041778564453" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5147"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="46.54937744140625" y="74.69668579101562" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_5148"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.910999298095703" y="-170.1141815185547" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5149"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-25.537500381469727" y="46.44368362426758" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_5151"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.455611228942871" y="-70.77421569824219" z="0.03381748124957085"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

remove pedestrian actor named pedestrian_w_transform_15673? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_15671"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_15672"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_15673"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_15675"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_15677"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_15679"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_15684"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_15685"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_15688"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_15691"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_15693"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_15671"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.9974675178527832" y="25.03722381591797" z="0.003056487999856472"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_15672"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.519554138183594" y="-74.42037200927734" z="0.033810921013355255"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_15673"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-23.88510513305664" y="83.25152587890625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_15675"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.303534507751465" y="-148.06924438476562" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_15677"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.128864288330078" y="-147.26889038085938" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_15679"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.440825462341309" y="23.500186920166016" z="0.003055152716115117"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_15684"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="31.9239444732666" y="78.78694915771484" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_15685"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="46.97017288208008" y="-11.40128231048584" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_15688"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.059986043721437454" y="-145.5871124267578" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_15691"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-23.550357818603516" y="-158.8895263671875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_15693"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.279952049255371" y="-141.94381713867188" 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_15671"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_15672"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_15675"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_15677"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_15679"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_15684"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_15685"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_15688"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_15691"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_15693"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_15671"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.9974675178527832" y="25.03722381591797" z="0.003056487999856472"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_15672"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.519554138183594" y="-74.42037200927734" z="0.033810921013355255"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_15675"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.303534507751465" y="-148.06924438476562" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_15677"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.128864288330078" y="-147.26889038085938" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_15679"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.440825462341309" y="23.500186920166016" z="0.003055152716115117"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_15684"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="31.9239444732666" y="78.78694915771484" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_15685"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="46.97017288208008" y="-11.40128231048584" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_15688"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.059986043721437454" y="-145.5871124267578" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_15691"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-23.550357818603516" y="-158.8895263671875" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_15693"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.279952049255371" y="-141.94381713867188" 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_17890"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17891"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_17892"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17893"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_17890"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.55467414855957" y="26.52090072631836" z="0.0030221175402402878"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17891"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="67.05952453613281" y="-22.04364776611328" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_17892"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.825787544250488" y="23.47833251953125" z="0.0030522155575454235"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17893"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.624500274658203" y="33.333003997802734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_17890"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17891"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_17892"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17893"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_17894"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_17890"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.55467414855957" y="26.52090072631836" z="0.0030221175402402878"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17891"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="67.05952453613281" y="-22.04364776611328" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_17892"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.825787544250488" y="23.47833251953125" z="0.0030522155575454235"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17893"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.624500274658203" y="33.333003997802734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_17894"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.161969184875488" y="-63.68098068237305" z="0.033818814903497696"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="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 (97.34, -80.75, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_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_close_to_adversary_17514"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17515"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <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_close_to_adversary_17514"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.423500061035156" y="-75.1950454711914" z="0.03376869112253189"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17515"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-96.13187408447266" y="10.488748550415039" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="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_close_to_adversary_17514"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17515"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="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> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <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_close_to_adversary_17514"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.423500061035156" y="-75.1950454711914" z="0.03376869112253189"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17515"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-96.13187408447266" y="10.488748550415039" 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> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="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 (41.0, -24.6, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_3743"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3744"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_3745"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3743"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.458734512329102" y="-146.97817993164062" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3744"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="18.682971954345703" y="35.16305160522461" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_3745"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.694570541381836" y="10.587545394897461" z="0.0030706024263054132"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_3743"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3744"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_3745"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3746"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3743"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.458734512329102" y="-146.97817993164062" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3744"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="18.682971954345703" y="35.16305160522461" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_3745"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.694570541381836" y="10.587545394897461" z="0.0030706024263054132"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3746"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="40.9986686706543" y="-24.596492767333984" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to command you to add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10782"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10782"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.61388111114502" y="30.097429275512695" z="0.0030387877486646175"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10782"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10783"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10782"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.61388111114502" y="30.097429275512695" z="0.0030387877486646175"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10783"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.607010841369629" y="29.311912536621094" z="0.003054771339520812"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

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

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23739"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23739"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.274701118469238" y="27.732812881469727" z="0.0030545806512236595"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="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 (88.88, 11.84, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18436"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18437"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18438"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18439"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18440"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18442"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18443"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18444"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18445"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18446"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18447"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18448"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18449"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18450"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18451"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18452"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18453"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18454"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18455"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18457"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18436"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-23.775314331054688" y="-141.35769653320312" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18437"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.245051383972168" y="32.16217041015625" z="0.0030773163307458162"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18438"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-97.22415924072266" y="88.85769653320312" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18439"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.359969139099121" y="27.234163284301758" z="0.00302295689471066"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18440"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="67.49549865722656" y="37.975425720214844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18442"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.614253044128418" y="38.25982666015625" z="0.003031081985682249"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18443"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="16.110280990600586" y="32.95652770996094" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18444"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-21.108356475830078" y="-68.37684631347656" z="0.03379882872104645"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18445"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="26.54989242553711" y="-92.33555603027344" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18446"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="74.40474700927734" y="92.62187194824219" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18447"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-57.83799743652344" y="-50.82815170288086" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18448"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.924639701843262" y="-72.12751007080078" z="0.03374847397208214"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18449"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.31327247619629" y="-19.618804931640625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18450"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.671264171600342" y="23.06494140625" z="0.0030832290649414062"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18451"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-76.37342071533203" y="0.8701692223548889" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18452"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.97197151184082" y="44.1622428894043" z="0.0030667877290397882"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18453"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.9098403453826904" y="-147.032470703125" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18454"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.703505277633667" y="-149.29727172851562" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18455"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.992046356201172" y="27.467252731323242" z="0.003050422528758645"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18457"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.197326898574829" y="15.786028861999512" z="0.0030664061196148396"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18436"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18437"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18438"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18439"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18440"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18442"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18443"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18444"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18445"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18446"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18447"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18448"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18449"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18450"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18451"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18452"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18453"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18454"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18455"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18457"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18458"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18436"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-23.775314331054688" y="-141.35769653320312" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18437"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.245051383972168" y="32.16217041015625" z="0.0030773163307458162"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18438"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-97.22415924072266" y="88.85769653320312" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18439"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.359969139099121" y="27.234163284301758" z="0.00302295689471066"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18440"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="67.49549865722656" y="37.975425720214844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18442"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.614253044128418" y="38.25982666015625" z="0.003031081985682249"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18443"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="16.110280990600586" y="32.95652770996094" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18444"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-21.108356475830078" y="-68.37684631347656" z="0.03379882872104645"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18445"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="26.54989242553711" y="-92.33555603027344" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18446"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="74.40474700927734" y="92.62187194824219" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18447"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-57.83799743652344" y="-50.82815170288086" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18448"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.924639701843262" y="-72.12751007080078" z="0.03374847397208214"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18449"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.31327247619629" y="-19.618804931640625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18450"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.671264171600342" y="23.06494140625" z="0.0030832290649414062"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18451"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-76.37342071533203" y="0.8701692223548889" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18452"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.97197151184082" y="44.1622428894043" z="0.0030667877290397882"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18453"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.9098403453826904" y="-147.032470703125" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18454"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.703505277633667" y="-149.29727172851562" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18455"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.992046356201172" y="27.467252731323242" z="0.003050422528758645"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18457"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.197326898574829" y="15.786028861999512" z="0.0030664061196148396"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18458"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="88.88392639160156" y="11.835982322692871" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like you to display remove pedestrian actor named pedestrian_close_to_adversary_7695? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_7695"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7696"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7697"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_7698"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7699"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_7700"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7701"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_7703"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7706"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_7707"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7709"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7711"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7712"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_7713"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7714"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7718"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_7695"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.191503524780273" y="-63.917938232421875" z="0.033789023756980896"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7696"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="6.5398125648498535" y="-18.87665367126465" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7697"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-80.0723648071289" y="24.522676467895508" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_7698"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.9103801250457764" y="-80.27864074707031" z="0.03381698578596115"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7699"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-73.01885223388672" y="-51.985897064208984" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_7700"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.235104560852051" y="-143.1319580078125" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7701"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-57.97281265258789" y="-50.33668518066406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_7703"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.846041440963745" y="-80.35891723632812" z="0.03382003679871559"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7706"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="51.64692306518555" y="6.155998229980469" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_7707"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.922931671142578" y="-64.83783721923828" z="0.03382926806807518"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7709"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-77.70873260498047" y="79.20187377929688" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7711"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-57.58588790893555" y="-38.0283088684082" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7712"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="41.515933990478516" y="59.06263732910156" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_7713"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.6314523220062256" y="-156.86158752441406" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7714"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-64.18312072753906" y="-62.808876037597656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7718"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.480949401855469" y="78.1457290649414" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="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_7696"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7697"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_7698"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7699"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_7700"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7701"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_7703"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7706"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_7707"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7709"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7711"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7712"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_7713"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7714"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7718"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="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_7696"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="6.5398125648498535" y="-18.87665367126465" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7697"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-80.0723648071289" y="24.522676467895508" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_7698"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.9103801250457764" y="-80.27864074707031" z="0.03381698578596115"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7699"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-73.01885223388672" y="-51.985897064208984" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_7700"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.235104560852051" y="-143.1319580078125" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7701"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-57.97281265258789" y="-50.33668518066406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_7703"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.846041440963745" y="-80.35891723632812" z="0.03382003679871559"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7706"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="51.64692306518555" y="6.155998229980469" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_7707"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.922931671142578" y="-64.83783721923828" z="0.03382926806807518"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7709"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-77.70873260498047" y="79.20187377929688" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7711"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-57.58588790893555" y="-38.0283088684082" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7712"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="41.515933990478516" y="59.06263732910156" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_7713"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.6314523220062256" y="-156.86158752441406" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7714"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-64.18312072753906" y="-62.808876037597656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7718"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.480949401855469" y="78.1457290649414" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="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_hero_2550"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_2551"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_2552"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_2553"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_2554"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_2555"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_2556"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_2557"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_2558"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_2550"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.214611053466797" y="-154.8959197998047" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_2551"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.7364816665649414" y="-158.7273406982422" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_2552"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="88.85635375976562" y="53.633445739746094" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_2553"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.169442176818848" y="-70.4441909790039" z="0.033810004591941833"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_2554"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="41.13764572143555" y="47.51963806152344" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_2555"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.296113967895508" y="38.184810638427734" z="0.0030474471859633923"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_2556"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="65.73411560058594" y="-8.438080787658691" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_2557"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-69.07101440429688" y="-37.64472198486328" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_2558"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="31.847169876098633" y="-79.88677215576172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_2550"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_2551"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_2552"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_2553"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_2554"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_2555"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_2556"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_2557"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_2558"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_2559"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_2550"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.214611053466797" y="-154.8959197998047" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_2551"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.7364816665649414" y="-158.7273406982422" z="0.0014286803780123591"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_2552"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="88.85635375976562" y="53.633445739746094" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_2553"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.169442176818848" y="-70.4441909790039" z="0.033810004591941833"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_2554"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="41.13764572143555" y="47.51963806152344" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_2555"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.296113967895508" y="38.184810638427734" z="0.0030474471859633923"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_2556"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="65.73411560058594" y="-8.438080787658691" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_2557"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-69.07101440429688" y="-37.64472198486328" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_2558"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="31.847169876098633" y="-79.88677215576172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_2559"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-23.643733978271484" y="-158.62109375" 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 remove pedestrian actor named pedestrian_close_to_adversary_11381? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11380"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11381"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11386"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11380"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.876882553100586" y="-68.98500061035156" z="0.03376312181353569"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11381"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.80393409729004" y="-78.56012725830078" z="0.033779677003622055"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11386"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-74.9518814086914" y="33.83942794799805" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11380"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11386"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11380"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.876882553100586" y="-68.98500061035156" z="0.03376312181353569"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11386"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-74.9518814086914" y="33.83942794799805" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```