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town01.xosc
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<?xml version="1.0" encoding="UTF-8"?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2023-02-26T10:38:22" description="town01" author=""/>
<CatalogLocations>
<VehicleCatalog>
<Directory path="catalogs"/>
</VehicleCatalog>
</CatalogLocations>
<RoadNetwork>
<LogicFile filepath="Town01"/>
<SceneGraphFile filepath=""/>
</RoadNetwork>
<Entities>
<ScenarioObject name="ego_vehicle">
<CatalogReference catalogName="VehicleCatalog" entryName="vehicle.mercedes.coupe"/>
</ScenarioObject>
<ScenarioObject name="challenger_vehicle_1">
<CatalogReference catalogName="VehicleCatalog" entryName="vehicle.lincoln.mkz_2017"/>
</ScenarioObject>
<ScenarioObject name="challenger_vehicle_2">
<CatalogReference catalogName="VehicleCatalog" entryName="vehicle.volkswagen.t2"/>
</ScenarioObject>
<ScenarioObject name="stopping_vehicle_3">
<CatalogReference catalogName="VehicleCatalog" entryName="vehicle.tesla.model3"/>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="Environment">
<TimeOfDay animation="false" dateTime="2023-07-19T12:12:12"/>
<Weather cloudState="free">
<Sun intensity="0.85" azimuth="0" elevation="1.31"/>
<Fog visualRange="100000.0"/>
<Precipitation precipitationType="dry" intensity="0.0"/>
</Weather>
<RoadCondition frictionScaleFactor="1.0"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="ego_vehicle">
<PrivateAction>
<TeleportAction>
<Position>
<LanePosition roadId="23" laneId="-1" s="5" offset="0"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="challenger_vehicle_1">
<PrivateAction>
<TeleportAction>
<Position>
<LanePosition roadId="12" laneId="1" s="15" offset="0"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="challenger_vehicle_2">
<PrivateAction>
<TeleportAction>
<Position>
<LanePosition roadId="12" laneId="-1" s="25" offset="0"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="stopping_vehicle_3">
<PrivateAction>
<TeleportAction>
<Position>
<LanePosition roadId="12" laneId="-1" s="100" offset="0"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="story">
<Act name="act">
<ManeuverGroup name="maneuver_group" maximumExecutionCount="1">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="ego_vehicle"/>
<EntityRef entityRef="challenger_vehicle_1"/>
<EntityRef entityRef="challenger_vehicle_2"/>
</Actors>
<Maneuver name="maneuver">
<Event name="event" priority="overwrite" maximumExecutionCount="1" >
<Action name="action">
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="agent">
<Properties>
<Property name="module" value="carla_autopilot.py"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
</Action>
<Action name="aquire_global_position">
<PrivateAction>
<RoutingAction>
<AcquirePositionAction>
<Position>
<LanePosition roadId="12" laneId="-1" s="100" offset="0"/>
</Position>
</AcquirePositionAction>
</RoutingAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition conditionEdge="rising" delay="0" name="event_start_condition">
<ByValueCondition>
<SimulationTimeCondition rule="greaterThan" value="0" />
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger>
<ConditionGroup>
<Condition conditionEdge="rising" delay="0" name="act_start_condition">
<ByValueCondition>
<SimulationTimeCondition rule="greaterThan" value="0" />
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
<StopTrigger>
<ConditionGroup>
<Condition conditionEdge="rising" delay="0" name="act_end_condition">
<ByValueCondition>
<SimulationTimeCondition rule="greaterThan" value="30" />
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger>
<ConditionGroup>
<Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="distance_success" value="25" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
<Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
<ByValueCondition>
<ParameterCondition parameterRef="" value="" rule="lessThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>