diff --git a/sim/contrib/examples/Configurations/Bicyclist/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/Bicyclist/ProfilesCatalog.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a513beabc43cda56cdaaef6c9d07377270292353
--- /dev/null
+++ b/sim/contrib/examples/Configurations/Bicyclist/ProfilesCatalog.xml
@@ -0,0 +1,40 @@
+<Profiles SchemaVersion="0.4.6">
+ <AgentProfiles>
+ <AgentProfile Name="BicycleAgent" Type="Static">
+ <System>
+ <File>SystemConfigBicycle.xml</File>
+ <Id>0</Id>
+ </System>
+ <VehicleModel>bicycle</VehicleModel>
+ </AgentProfile>
+ </AgentProfiles>
+ <VehicleProfiles>
+ </VehicleProfiles>
+ <ProfileGroup Type="Driver">
+ </ProfileGroup>
+ <ProfileGroup Type="Spawner">
+ </ProfileGroup>
+ <ProfileGroup Type="TrafficRules">
+ <Profile Name="Germany">
+ <Double Key="OpenSpeedLimit" Value="INF"/>
+ <Bool Key="KeepToOuterLanes" Value="true"/>
+ <Bool Key="DontOvertakeOnOuterLanes" Value="true"/>
+ <Bool Key="FormRescueLane" Value="true"/>
+ <Bool Key="ZipperMerge" Value="true"/>
+ </Profile>
+ <Profile Name="USA">
+ <Double Key="OpenSpeedLimit" Value="31.2928"/>
+ <Bool Key="KeepToOuterLanes" Value="false"/>
+ <Bool Key="DontOvertakeOnOuterLanes" Value="false"/>
+ <Bool Key="FormRescueLane" Value="true"/>
+ <Bool Key="ZipperMerge" Value="false"/>
+ </Profile>
+ <Profile Name="China">
+ <Double Key="OpenSpeedLimit" Value="33.3333"/>
+ <Bool Key="KeepToOuterLanes" Value="false"/>
+ <Bool Key="DontOvertakeOnOuterLanes" Value="true"/>
+ <Bool Key="FormRescueLane" Value="false"/>
+ <Bool Key="ZipperMerge" Value="true"/>
+ </Profile>
+ </ProfileGroup>
+</Profiles>
diff --git a/sim/contrib/examples/Configurations/Bicyclist/Scenario.xosc b/sim/contrib/examples/Configurations/Bicyclist/Scenario.xosc
new file mode 100644
index 0000000000000000000000000000000000000000..3380479ff52d4ed11dec1d05dcfc1c32efdbe305
--- /dev/null
+++ b/sim/contrib/examples/Configurations/Bicyclist/Scenario.xosc
@@ -0,0 +1,149 @@
+<?xml version="1.0"?>
+<OpenSCENARIO>
+ <FileHeader revMajor="1" revMinor="0" date="2020-06-26T00:17:00" description="openPASS default scenario" author="in-tech GmbH"/>
+ <ParameterDeclarations>
+ <ParameterDeclaration name="OP_OSC_SchemaVersion" parameterType="string" value="0.4.0"/>
+ </ParameterDeclarations>
+ <CatalogLocations>
+ <VehicleCatalog>
+ <Directory path="VehicleModelsCatalog.xosc"/>
+ </VehicleCatalog>
+ <PedestrianCatalog>
+ <Directory path="PedestrianModelsCatalog.xosc"/>
+ </PedestrianCatalog>
+ <ControllerCatalog>
+ <Directory path=""/>
+ </ControllerCatalog>
+ <ManeuverCatalog>
+ <Directory path=""/>
+ </ManeuverCatalog>
+ <MiscObjectCatalog>
+ <Directory path=""/>
+ </MiscObjectCatalog>
+ <EnvironmentCatalog>
+ <Directory path=""/>
+ </EnvironmentCatalog>
+ <TrajectoryCatalog>
+ <Directory path=""/>
+ </TrajectoryCatalog>
+ <RouteCatalog>
+ <Directory path=""/>
+ </RouteCatalog>
+ </CatalogLocations>
+ <RoadNetwork>
+ <LogicFile filepath="SceneryConfiguration.xodr"/>
+ <SceneGraphFile filepath=""/>
+ </RoadNetwork>
+ <Entities>
+ <ScenarioObject name="Ego">
+ <CatalogReference catalogName="ProfilesCatalog.xml" entryName="BicycleAgent"/>
+ </ScenarioObject>
+ <EntitySelection name="ScenarioAgents">
+ <Members/>
+ </EntitySelection>
+ </Entities>
+ <Storyboard>
+ <Init>
+ <Actions>
+ <Private entityRef="Ego">
+ <PrivateAction>
+ <TeleportAction>
+ <Position>
+ <LanePosition roadId="R1" laneId="-2" offset="0.0" s="190.0"/>
+ </Position>
+ </TeleportAction>
+ </PrivateAction>
+ <PrivateAction>
+ <LongitudinalAction>
+ <SpeedAction>
+ <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionTarget>
+ <AbsoluteTargetSpeed value="3.5"/>
+ </SpeedActionTarget>
+ </SpeedAction>
+ </LongitudinalAction>
+ </PrivateAction>
+ <PrivateAction>
+ <RoutingAction>
+ <AssignRouteAction>
+ <Route>
+ <Waypoint>
+ <Position>
+ <RoadPosition roadId="R1" t="-1.0" s="0"/>
+ </Position>
+ </Waypoint>
+ <Waypoint>
+ <Position>
+ <RoadPosition roadId="R1-2" t="-1.0" s="0"/>
+ </Position>
+ </Waypoint>
+ <Waypoint>
+ <Position>
+ <RoadPosition roadId="R2" t="1.0" s="0"/>
+ </Position>
+ </Waypoint>
+ </Route>
+ </AssignRouteAction>
+ </RoutingAction>
+ </PrivateAction>
+ </Private>
+ </Actions>
+ </Init>
+ <Story name="BicycleStory">
+ <Act name="Act1">
+ <ManeuverGroup maximumExecutionCount="1" name="BicycleSequence">
+ <Actors selectTriggeringEntities="false">
+ <EntityRef entityRef="Ego"/>
+ </Actors>
+ <Maneuver name="BicycleManeuver">
+ <Event name="BicycleEvent" priority="overwrite">
+ <Action name="BicycleRoute">
+ <PrivateAction>
+ <RoutingAction>
+ <AssignRouteAction>
+ <Route>
+ <Waypoint>
+ <Position>
+ <RoadPosition roadId="R2" t="5.0" s="0"/>
+ </Position>
+ </Waypoint>
+ <Waypoint>
+ <Position>
+ <RoadPosition roadId="R2" t="-5.0" s="200.0"/>
+ </Position>
+ </Waypoint>
+ <Waypoint>
+ <Position>
+ <RoadPosition roadId="R3" t="5.0" s="0"/>
+ </Position>
+ </Waypoint>
+ </Route>
+ </AssignRouteAction>
+ </RoutingAction>
+ </PrivateAction>
+ </Action>
+ <StartTrigger>
+ <ConditionGroup>
+ <Condition name="Conditional">
+ <ByValueCondition>
+ <SimulationTimeCondition value="-1" rule="greaterThan"/>
+ </ByValueCondition>
+ </Condition>
+ </ConditionGroup>
+ </StartTrigger>
+ </Event>
+ </Maneuver>
+ </ManeuverGroup>
+ </Act>
+ </Story>
+ <StopTrigger>
+ <ConditionGroup>
+ <Condition name="EndTime" delay="0" conditionEdge="rising">
+ <ByValueCondition>
+ <SimulationTimeCondition value="30.0" rule="greaterThan"/>
+ </ByValueCondition>
+ </Condition>
+ </ConditionGroup>
+ </StopTrigger>
+ </Storyboard>
+</OpenSCENARIO>
diff --git a/sim/contrib/examples/Configurations/Bicyclist/SceneryConfiguration.xodr b/sim/contrib/examples/Configurations/Bicyclist/SceneryConfiguration.xodr
new file mode 100644
index 0000000000000000000000000000000000000000..d82bb14fcfd98a0a329e6e3970ad1b857d1c8945
--- /dev/null
+++ b/sim/contrib/examples/Configurations/Bicyclist/SceneryConfiguration.xodr
@@ -0,0 +1,397 @@
+<OpenDRIVE>
+ <header revMajor="1" revMinor="4" name="TJunction" version="1.01" date="Tue Nov 5 18:53:27 CET 2019" north="2.0000000000000000e+003" south="-2.0000000000000000e+003" east="2.0000000000000000e+003" west="-2.0000000000000000e+003"/>
+ <road name="" length="200.0" id="R1" junction="-1">
+ <link>
+ <successor elementType="junction" elementId="J0"/>
+ </link>
+ <planView>
+ <geometry s="0.0000000000000000e+000" x="0" y="0.0" hdg="0" length="200.0">
+ <line/>
+ </geometry>
+ </planView>
+ <lateralProfile/>
+ <lanes>
+ <laneSection s="0.0000000000000000e+000">
+ <left>
+ <lane id="1" type="driving" level="true">
+ <link/>
+ <width sOffset="0" a="4.0" b="0" c="0" d="0"/>
+ <roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ </left>
+ <center>
+ <lane id="0" type="border" level="true">
+ <link/>
+ <roadMark weight="standard" sOffset="0" type="broken" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ </center>
+ <right>
+ <lane id="-1" type="driving" level="true">
+ <link/>
+ <width sOffset="0" a="4.0" b="0" c="0" d="0"/>
+ <roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ <lane id="-2" type="sidewalk" level="true">
+ <link/>
+ <width sOffset="0" a="2.0" b="0" c="0" d="0"/>
+ <roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ </right>
+ </laneSection>
+ </lanes>
+ <objects/>
+ <signals>
+ <signal id="1" type="306" subtype="" s="200" t="-6.5" hOffset="0.0" pitch="0" roll="0" dynamic="no" country="DEU" name="" orientation="+" zOffset="0">
+ <validity toLane="-1" fromLane="-1"/>
+ </signal>
+ </signals>
+ </road>
+ <road name="" length="200.0" id="R2" junction="-1">
+ <link>
+ <successor elementType="junction" elementId="J0"/>
+ </link>
+ <planView>
+ <geometry s="0.0000000000000000e+000" x="208.0" y="-208.0" hdg="1.570796327" length="200.0">
+ <line/>
+ </geometry>
+ </planView>
+ <lateralProfile/>
+ <lanes>
+ <laneSection s="0.0000000000000000e+000">
+ <left>
+ <lane id="2" type="sidewalk" level="true">
+ <link/>
+ <width sOffset="0" a="2.0" b="0" c="0" d="0"/>
+ <roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ <lane id="1" type="driving" level="true">
+ <link/>
+ <width sOffset="0" a="4.0" b="0" c="0" d="0"/>
+ <roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ </left>
+ <center>
+ <lane id="0" type="border" level="true">
+ <link/>
+ <roadMark weight="standard" sOffset="0" type="broken" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ </center>
+ <right>
+ <lane id="-1" type="driving" level="true">
+ <link/>
+ <width sOffset="0" a="4.0" b="0" c="0" d="0"/>
+ <roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ <lane id="-2" type="sidewalk" level="true">
+ <link/>
+ <width sOffset="0" a="2.0" b="0" c="0" d="0"/>
+ <roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ </right>
+ </laneSection>
+ </lanes>
+ <objects>
+ <object id="10" name="Crosswalk" s="198.4" t="0" zOffset="0.0" hdg="1.5707963267948966" roll="0.0" pitch="0.0" orientation="+" type="crosswalk" width="3.0" length="8.0">
+ </object>
+ </objects>
+ <signals>
+ <signal id="1" type="206" subtype="" s="200" t="-6.5" hOffset="0.0" pitch="0" roll="0" dynamic="no" country="DEU" name="" orientation="+" zOffset="0">
+ <validity toLane="-1" fromLane="-1"/>
+ </signal>
+ </signals>
+ </road>
+ <road name="" length="200.0" id="R3" junction="-1">
+ <link>
+ <successor elementType="junction" elementId="J0"/>
+ </link>
+ <planView>
+ <geometry s="0.0000000000000000e+000" x="416.0" y="0.0" hdg="3.141592654" length="200.0">
+ <line/>
+ </geometry>
+ </planView>
+ <lateralProfile/>
+ <lanes>
+ <laneSection s="0.0000000000000000e+000">
+ <left>
+ <lane id="2" type="sidewalk" level="true">
+ <link/>
+ <width sOffset="0" a="2.0" b="0" c="0" d="0"/>
+ <roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ <lane id="1" type="driving" level="true">
+ <link/>
+ <width sOffset="0" a="4.0" b="0" c="0" d="0"/>
+ <roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ </left>
+ <center>
+ <lane id="0" type="border" level="true">
+ <link/>
+ <roadMark weight="standard" sOffset="0" type="broken" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ </center>
+ <right>
+ <lane id="-1" type="driving" level="true">
+ <link/>
+ <width sOffset="0" a="4.0" b="0" c="0" d="0"/>
+ <roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ </right>
+ </laneSection>
+ </lanes>
+ <objects/>
+ <signals>
+ <signal id="1" type="306" subtype="" s="200" t="-4.5" hOffset="0.0" pitch="0" roll="0" dynamic="no" country="DEU" name="" orientation="+" zOffset="0">
+ <validity toLane="-1" fromLane="-1"/>
+ </signal>
+ </signals>
+ </road>
+ <road name="" length="12.566370614" id="R1-2" junction="J0">
+ <link>
+ <predecessor elementType="road" elementId="R1" contactPoint="end"/>
+ <successor elementType="road" elementId="R2" contactPoint="end"/>
+ </link>
+ <planView>
+ <geometry s="0.0000000000000000e+000" x="200.0" y="0.0" hdg="0" length="12.566370614">
+ <arc curvature="-0.125"/>
+ </geometry>
+ </planView>
+ <lateralProfile/>
+ <lanes>
+ <laneSection s="0.0000000000000000e+000">
+ <center>
+ <lane id="0" type="border" level="true">
+ <link/>
+ <roadMark weight="standard" sOffset="0" type="none" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ </center>
+ <right>
+ <lane id="-1" type="driving" level="true">
+ <link>
+ <predecessor id="-1"/>
+ <successor id="1"/>
+ </link>
+ <width sOffset="0" a="4.0" b="0" c="0" d="0"/>
+ <roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ <lane id="-2" type="sidewalk" level="true">
+ <link>
+ <predecessor id="-2"/>
+ <successor id="2"/>
+ </link>
+ <width sOffset="0" a="2.0" b="0" c="0" d="0"/>
+ <roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ </right>
+ </laneSection>
+ </lanes>
+ <objects/>
+ <signals/>
+ </road>
+ <road name="" length="12.566370614" id="R2-1" junction="J0">
+ <link>
+ <predecessor elementType="road" elementId="R2" contactPoint="end"/>
+ <successor elementType="road" elementId="R1" contactPoint="end"/>
+ </link>
+ <planView>
+ <geometry s="0.0000000000000000e+000" x="208.0" y="-8.0" hdg="1.570796327" length="12.566370614">
+ <arc curvature="0.125"/>
+ </geometry>
+ </planView>
+ <lateralProfile/>
+ <lanes>
+ <laneSection s="0.0000000000000000e+000">
+ <center>
+ <lane id="0" type="border" level="true">
+ <link/>
+ <roadMark weight="standard" sOffset="0" type="none" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ </center>
+ <right>
+ <lane id="-1" type="driving" level="true">
+ <link>
+ <predecessor id="-1"/>
+ <successor id="1"/>
+ </link>
+ <width sOffset="0" a="4.0" b="0" c="0" d="0"/>
+ <roadMark weight="standard" sOffset="0" type="none" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ </right>
+ </laneSection>
+ </lanes>
+ <objects/>
+ <signals/>
+ </road>
+ <road name="" length="16.0" id="R1-3" junction="J0">
+ <link>
+ <predecessor elementType="road" elementId="R1" contactPoint="end"/>
+ <successor elementType="road" elementId="R3" contactPoint="end"/>
+ </link>
+ <planView>
+ <geometry s="0.0000000000000000e+000" x="200.0" y="0.0" hdg="0" length="16.0">
+ <line/>
+ </geometry>
+ </planView>
+ <lateralProfile/>
+ <lanes>
+ <laneSection s="0.0000000000000000e+000">
+ <center>
+ <lane id="0" type="border" level="true">
+ <link/>
+ <roadMark weight="standard" sOffset="0" type="broken" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ </center>
+ <right>
+ <lane id="-1" type="driving" level="true">
+ <link>
+ <predecessor id="-1"/>
+ <successor id="1"/>
+ </link>
+ <width sOffset="0" a="4.0" b="0" c="0" d="0"/>
+ <roadMark weight="standard" sOffset="0" type="none" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ </right>
+ </laneSection>
+ </lanes>
+ <objects/>
+ <signals/>
+ </road>
+ <road name="" length="16.0" id="R3-1" junction="J0">
+ <link>
+ <predecessor elementType="road" elementId="R3" contactPoint="end"/>
+ <successor elementType="road" elementId="R1" contactPoint="end"/>
+ </link>
+ <planView>
+ <geometry s="0.0000000000000000e+000" x="216.0" y="0.0" hdg="3.141592654" length="16.0">
+ <line/>
+ </geometry>
+ </planView>
+ <lateralProfile/>
+ <lanes>
+ <laneSection s="0.0000000000000000e+000">
+ <center>
+ <lane id="0" type="border" level="true">
+ <link/>
+ <roadMark weight="standard" sOffset="0" type="broken" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ </center>
+ <right>
+ <lane id="-1" type="driving" level="true">
+ <link>
+ <predecessor id="-1"/>
+ <successor id="1"/>
+ </link>
+ <width sOffset="0" a="4.0" b="0" c="0" d="0"/>
+ <roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ </right>
+ </laneSection>
+ </lanes>
+ <objects/>
+ <signals/>
+ </road>
+ <road name="" length="12.566370614" id="R2-3" junction="J0">
+ <link>
+ <predecessor elementType="road" elementId="R2" contactPoint="end"/>
+ <successor elementType="road" elementId="R3" contactPoint="end"/>
+ </link>
+ <planView>
+ <geometry s="0.0000000000000000e+000" x="208.0" y="-8.0" hdg="1.570796327" length="12.566370614">
+ <arc curvature="-0.125"/>
+ </geometry>
+ </planView>
+ <lateralProfile/>
+ <lanes>
+ <laneSection s="0.0000000000000000e+000">
+ <center>
+ <lane id="0" type="border" level="true">
+ <link/>
+ <roadMark weight="standard" sOffset="0" type="none" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ </center>
+ <right>
+ <lane id="-1" type="driving" level="true">
+ <link>
+ <predecessor id="-1"/>
+ <successor id="1"/>
+ </link>
+ <width sOffset="0" a="4.0" b="0" c="0" d="0"/>
+ <roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ <lane id="-2" type="sidewalk" level="true">
+ <link>
+ <predecessor id="-2"/>
+ <successor id="2"/>
+ </link>
+ <width sOffset="0" a="2.0" b="0" c="0" d="0"/>
+ <roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ </right>
+ </laneSection>
+ </lanes>
+ <objects/>
+ <signals/>
+ </road>
+ <road name="" length="12.566370614" id="R3-2" junction="J0">
+ <link>
+ <predecessor elementType="road" elementId="R3" contactPoint="end"/>
+ <successor elementType="road" elementId="R2" contactPoint="end"/>
+ </link>
+ <planView>
+ <geometry s="0.0000000000000000e+000" x="216.0" y="0.0" hdg="3.141592654" length="12.566370614">
+ <arc curvature="0.125"/>
+ </geometry>
+ </planView>
+ <lateralProfile/>
+ <lanes>
+ <laneSection s="0.0000000000000000e+000">
+ <center>
+ <lane id="0" type="border" level="true">
+ <link/>
+ <roadMark weight="standard" sOffset="0" type="none" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ </center>
+ <right>
+ <lane id="-1" type="driving" level="true">
+ <link>
+ <predecessor id="-1"/>
+ <successor id="1"/>
+ </link>
+ <width sOffset="0" a="4.0" b="0" c="0" d="0"/>
+ <roadMark weight="standard" sOffset="0" type="none" color="standard" width="0.12" laneChange="both"/>
+ </lane>
+ </right>
+ </laneSection>
+ </lanes>
+ <objects/>
+ <signals/>
+ </road>
+ <junction name="Junction" id="J0">
+ <connection id="1-2" incomingRoad="R1" connectingRoad="R1-2" contactPoint="start">
+ <laneLink from="-1" to="-1"/>
+ <laneLink from="-2" to="-2"/>
+ </connection>
+ <connection id="2-1" incomingRoad="R2" connectingRoad="R2-1" contactPoint="start">
+ <laneLink from="-1" to="-1"/>
+ </connection>
+ <connection id="1-3" incomingRoad="R1" connectingRoad="R1-3" contactPoint="start">
+ <laneLink from="-1" to="-1"/>
+ </connection>
+ <connection id="3-1" incomingRoad="R3" connectingRoad="R3-1" contactPoint="start">
+ <laneLink from="-1" to="-1"/>
+ </connection>
+ <connection id="2-3" incomingRoad="R2" connectingRoad="R2-3" contactPoint="start">
+ <laneLink from="-1" to="-1"/>
+ <laneLink from="-2" to="-2"/>
+ </connection>
+ <connection id="3-2" incomingRoad="R3" connectingRoad="R3-2" contactPoint="start">
+ <laneLink from="-1" to="-1"/>
+ </connection>
+ <priority high="R1-2" low="R3-2"/>
+ <priority high="R1-3" low="R2-1"/>
+ <priority high="R1-3" low="R2-3"/>
+ <priority high="R1-3" low="R3-2"/>
+ <priority high="R3-1" low="R2-1"/>
+ <priority high="R3-2" low="R2-1"/>
+ </junction>
+</OpenDRIVE>
diff --git a/sim/contrib/examples/Configurations/Bicyclist/SystemConfigBicycle.xml b/sim/contrib/examples/Configurations/Bicyclist/SystemConfigBicycle.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6dd348efe53717bd52739bb2d98a9640e4b415df
--- /dev/null
+++ b/sim/contrib/examples/Configurations/Bicyclist/SystemConfigBicycle.xml
@@ -0,0 +1,359 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<systems>
+ <system>
+ <id>0</id>
+ <title>static agent</title>
+ <priority>0</priority>
+ <components>
+ <component>
+ <id>0</id>
+ <library>Parameters_Vehicle</library>
+ <title>ParametersVehicle</title>
+ <schedule>
+ <priority>500</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <position>
+ <x>40</x>
+ <y>466</y>
+ </position>
+ </component>
+ <component>
+ <id>2</id>
+ <library>Algorithm_Bicyclist</library>
+ <title>Algorithm_Bicyclist</title>
+ <schedule>
+ <priority>310</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters>
+ <parameter>
+ <id>VelocityWish</id>
+ <type>double</type>
+ <value>3.5</value>
+ </parameter>
+ <parameter>
+ <id>VelocityWishDismounted</id>
+ <type>double</type>
+ <value>1.39</value>
+ </parameter>
+ <parameter>
+ <id>Delta</id>
+ <type>double</type>
+ <value>4.0</value>
+ </parameter>
+ <parameter>
+ <id>TGapWish</id>
+ <type>double</type>
+ <value>1.5</value>
+ </parameter>
+ <parameter>
+ <id>MinDistance</id>
+ <type>double</type>
+ <value>2.0</value>
+ </parameter>
+ <parameter>
+ <id>MaxAcceleration</id>
+ <type>double</type>
+ <value>1.4</value>
+ </parameter>
+ <parameter>
+ <id>MaxDeceleration</id>
+ <type>double</type>
+ <value>2.0</value>
+ </parameter>
+ <parameter>
+ <id>PropabilityDismountAtCrosswalk</id>
+ <type>double</type>
+ <value>1.0</value>
+ </parameter>
+ <parameter>
+ <id>PropabilityUseCrosswalk</id>
+ <type>double</type>
+ <value>1.0</value>
+ </parameter>
+ </parameters>
+ <position>
+ <x>300</x>
+ <y>20</y>
+ </position>
+ </component>
+ <component>
+ <id>8</id>
+ <library>Sensor_DriverBicyclist</library>
+ <title>SensorDriver</title>
+ <schedule>
+ <priority>490</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <position>
+ <x>40</x>
+ <y>325</y>
+ </position>
+ </component>
+ <component>
+ <id>9</id>
+ <library>Dynamics_Bicycle</library>
+ <title>Dynamics_Bicycle</title>
+ <schedule>
+ <priority>50</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <position>
+ <x>923</x>
+ <y>423</y>
+ </position>
+ </component>
+ <component>
+ <id>10</id>
+ <library>Dynamics_Collision</library>
+ <title>DynamicsCollision</title>
+ <schedule>
+ <priority>50</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <position>
+ <x>921</x>
+ <y>574</y>
+ </position>
+ </component>
+ <component>
+ <id>11</id>
+ <library>SignalPrioritizer</library>
+ <title>SignalPrioritizer</title>
+ <schedule>
+ <priority>25</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters>
+ <parameter>
+ <!--parameter's title: Priority Input 1-->
+ <id>0</id>
+ <type>int</type>
+ <unit></unit>
+ <value>1</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: Priority Input 2-->
+ <id>1</id>
+ <type>int</type>
+ <unit></unit>
+ <value>4</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: Priority Input 3-->
+ <id>2</id>
+ <type>int</type>
+ <unit></unit>
+ <value>2</value>
+ </parameter>
+ <parameter>
+ <!--parameter's title: Priority Input 4-->
+ <id>3</id>
+ <type>int</type>
+ <unit></unit>
+ <value>3</value>
+ </parameter>
+ </parameters>
+ <position>
+ <x>1204</x>
+ <y>299</y>
+ </position>
+ </component>
+ <component>
+ <id>12</id>
+ <library>AgentUpdater</library>
+ <title>AgentUpdater</title>
+ <schedule>
+ <priority>1</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <position>
+ <x>1461</x>
+ <y>498</y>
+ </position>
+ </component>
+ <component>
+ <id>13</id>
+ <library>Action_SecondaryDriverTasks</library>
+ <title>ActionSecondaryDriverTasks</title>
+ <schedule>
+ <priority>3</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <position>
+ <x>916</x>
+ <y>94</y>
+ </position>
+ </component>
+ <component>
+ <id>15</id>
+ <library>Sensor_RecordState</library>
+ <title>Sensor_RecordState</title>
+ <schedule>
+ <priority>2</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <position>
+ <x>44</x>
+ <y>622</y>
+ </position>
+ </component>
+ <component>
+ <id>OpenScenarioActions</id>
+ <title>OpenScenarioActions</title>
+ <schedule>
+ <priority>400</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>OpenScenarioActions</library>
+ <parameters/>
+ </component>
+ </components>
+ <connections>
+ <connection>
+ <id>0</id>
+ <source>
+ <!--component title: SensorDriver-->
+ <component>8</component>
+ <!--output title: driver signal-->
+ <output>0</output>
+ </source>
+ <target>
+ <!--component title: AlgorithmAgentFollowingDriverModel-->
+ <component>2</component>
+ <!--input title: driver signal-->
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>3</id>
+ <source>
+ <!--component title: SignalPrioritizer-->
+ <component>11</component>
+ <!--output title: prioritized signal-->
+ <output>0</output>
+ </source>
+ <target>
+ <!--component title: AgentUpdater-->
+ <component>12</component>
+ <!--input title: dynamics signal-->
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>4</id>
+ <source>
+ <!--component title: DynamicsRegularDriving-->
+ <component>9</component>
+ <!--output title: dynamics signal-->
+ <output>0</output>
+ </source>
+ <target>
+ <!--component title: SignalPrioritizer-->
+ <component>11</component>
+ <!--input title: Input 1-->
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>5</id>
+ <source>
+ <!--component title: DynamicsCollision-->
+ <component>10</component>
+ <!--output title: dynamics signal-->
+ <output>0</output>
+ </source>
+ <target>
+ <!--component title: SignalPrioritizer-->
+ <component>11</component>
+ <!--input title: Input 2-->
+ <input>1</input>
+ </target>
+ </connection>
+ <connection>
+ <id>6</id>
+ <source>
+ <!--component title: ParametersVehicle-->
+ <component>0</component>
+ <!--output title: vehicle parameters-->
+ <output>1</output>
+ </source>
+ <target>
+ <!--component title: DynamicsRegularDriving-->
+ <component>9</component>
+ <!--input title: vehicle parameters-->
+ <input>100</input>
+ </target>
+ </connection>
+ <connection>
+ <id>13</id>
+ <source>
+ <!--component title: AlgorithmAgentFollowingDriverModel-->
+ <component>2</component>
+ <!--output title: acceleration signal-->
+ <output>2</output>
+ </source>
+ <target>
+ <!--component title: AlgorithmLongitudinal-->
+ <component>9</component>
+ <!--input title: acceleration signal-->
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>14</id>
+ <source>
+ <!--component title: AlgorithmAgentFollowingDriverModel-->
+ <component>2</component>
+ <!--output title: lateral signal-->
+ <output>0</output>
+ </source>
+ <target>
+ <!--component title: AlgorithmLateral-->
+ <component>9</component>
+ <!--input title: lateral signal-->
+ <input>1</input>
+ </target>
+ </connection>
+ <connection>
+ <id>8471</id>
+ <source>
+ <component>OpenScenarioActions</component>
+ <output>6</output>
+ </source>
+ <target>
+ <component>2</component>
+ <input>2</input>
+ </target>
+ </connection>
+ </connections>
+ </system>
+</systems>
diff --git a/sim/contrib/examples/Configurations/Bicyclist/simulationConfig.xml b/sim/contrib/examples/Configurations/Bicyclist/simulationConfig.xml
new file mode 100644
index 0000000000000000000000000000000000000000..962d3f3cea917273fa66fbf2012dc4bc3b59159f
--- /dev/null
+++ b/sim/contrib/examples/Configurations/Bicyclist/simulationConfig.xml
@@ -0,0 +1,69 @@
+<simulationConfig SchemaVersion="0.8.2">
+ <ProfilesCatalog>ProfilesCatalog.xml</ProfilesCatalog>
+ <Experiment>
+ <ExperimentID>123</ExperimentID>
+ <NumberOfInvocations>1</NumberOfInvocations>
+ <RandomSeed>532725206</RandomSeed>
+ <Libraries>
+ <WorldLibrary>World_OSI</WorldLibrary>
+ </Libraries>
+ </Experiment>
+ <Scenario>
+ <OpenScenarioFile>Scenario.xosc</OpenScenarioFile>
+ </Scenario>
+ <Environment>
+ <TimeOfDays>
+ <TimeOfDay Probability="0.4" Value="15"/>
+ <TimeOfDay Probability="0.6" Value="18"/>
+ </TimeOfDays>
+ <VisibilityDistances>
+ <VisibilityDistance Probability="0.7" Value="300"/>
+ <VisibilityDistance Probability="0.3" Value="400"/>
+ </VisibilityDistances>
+ <Frictions>
+ <Friction Probability="1.0" Value="1.0"/>
+ </Frictions>
+ <Weathers>
+ <Weather Probability="0.5" Value="Rainy"/>
+ <Weather Probability="0.5" Value="Snowy"/>
+ </Weathers>
+ <TrafficRules>Germany</TrafficRules>
+ </Environment>
+ <Observations>
+ <Observation>
+ <Library>Observation_Log</Library>
+ <Parameters>
+ <String Key="OutputFilename" Value="simulationOutput.xml"/>
+ <Bool Key="LoggingCyclicsToCsv" Value="false"/>
+ <StringVector Key="LoggingGroup_Trace" Value="XPosition,YPosition,YawAngle"/>
+ <StringVector Key="LoggingGroup_RoadPosition" Value="AgentInFront,Lane,PositionRoute,Road,TCoordinate"/>
+ <StringVector Key="LoggingGroup_RoadPositionExtended" Value="SecondaryLanes"/>
+ <StringVector Key="LoggingGroup_Sensor" Value="Sensor*_DetectedAgents,Sensor*_VisibleAgents"/>
+ <StringVector Key="LoggingGroup_Vehicle" Value="AccelerationPedalPosition,BrakePedalPosition,EngineMoment,Gear,SteeringAngle,TotalDistanceTraveled,YawRate"/>
+ <StringVector Key="LoggingGroup_Visualization" Value="AccelerationEgo,BrakeLight,IndicatorState,LightStatus,VelocityEgo"/>
+ <StringVector Key="LoggingGroups" Value="Trace,Visualization,RoadPosition,Sensor"/>
+ </Parameters>
+ </Observation>
+ <Observation>
+ <Library>Observation_EntityRepository</Library>
+ <Parameters>
+ <!-- If "FilenamePrefix" is skipped, defaults to Value="Repository" -->
+ <String Key="FilenamePrefix" Value="Repository"/>
+ <!-- If "WritePersistentEntities" is skipped, defaults to Value="Consolidated"
+ Options:
+ - Consolidated: Concatenate with {FilenamePrefix}_Run_###.csv for each run
+ - Separate: Write to {FilenamePrefix}_Persistent.csv
+ - Skip: No output for persistent entities
+ -->
+ <String Key="WritePersistentEntities" Value="Consolidated"/>
+ </Parameters>
+ </Observation>
+ </Observations>
+ <Spawners>
+ <Spawner>
+ <Library>SpawnerScenario</Library>
+ <Type>PreRun</Type>
+ <Priority>1</Priority>
+ </Spawner>
+ </Spawners>
+</simulationConfig>