diff --git a/sim/contrib/examples/Common/PedestrianModelsCatalog.xosc b/sim/contrib/examples/Common/PedestrianModelsCatalog.xosc
index bbda0b044d1890917d13fe64da9e7e3c14ff176c..a9fb9b3564e307f9daa2311b15f838007b50c60d 100644
--- a/sim/contrib/examples/Common/PedestrianModelsCatalog.xosc
+++ b/sim/contrib/examples/Common/PedestrianModelsCatalog.xosc
@@ -1,28 +1,26 @@
-<?xml version="1.0"?>
+<?xml version='1.0' encoding='UTF-8'?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-06-26T00:17:00" description="openPASS pedestrian models" author="in-tech GmbH"/>
<Catalog name="PedestrianCatalog">
<Pedestrian model="pedestrian_child" mass="30.0" name="pedestrian_child" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<Properties>
- <Property name="Mass" value="40.0"/>
+ <Property name="Mass" value="30.0"/>
</Properties>
<BoundingBox>
- <Center x="0.0645" y="0.0" z="0.577"/>
+ <Center x="0.0" y="0.0" z="0.577"/>
<Dimensions width="0.298" length="0.711" height="1.154"/>
</BoundingBox>
- <Properties/>
</Pedestrian>
- <Pedestrian model="pedestrian_adult" mass="80.0" name="pedestrian_adult" pedestrianCategory="pedestrian">
+ <Pedestrian model="pedestrian_adult" mass="70.0" name="pedestrian_adult" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<Properties>
<Property name="Mass" value="70.0"/>
</Properties>
<BoundingBox>
- <Center x="0.1" y="0.0" z="0.9"/>
+ <Center x="0.0" y="0.0" z="0.9"/>
<Dimensions width="0.5" length="0.6" height="1.8"/>
</BoundingBox>
- <Properties/>
</Pedestrian>
</Catalog>
</OpenSCENARIO>
diff --git a/sim/contrib/examples/Common/VehicleModelsCatalog.xosc b/sim/contrib/examples/Common/VehicleModelsCatalog.xosc
index 01e51226d74a35c6c530d02fd15341203ea8b602..bfab9f34244ca2bbe19e600f743aa4c37f52f8d9 100644
--- a/sim/contrib/examples/Common/VehicleModelsCatalog.xosc
+++ b/sim/contrib/examples/Common/VehicleModelsCatalog.xosc
@@ -1,4 +1,4 @@
-<?xml version="1.0"?>
+<?xml version='1.0' encoding='UTF-8'?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-06-26T00:17:00" description="openPASS vehicle models" author="in-tech GmbH"/>
<Catalog name="VehicleCatalog">
@@ -174,6 +174,42 @@
<RearAxle maxSteering="0.0" wheelDiameter="0.59" trackWidth="1.8" positionX="0.0" positionZ="0.295"/>
</Axles>
</Vehicle>
+ <Vehicle name="car_oldtimer" vehicleCategory="car">
+ <Properties>
+ <Property name="AirDragCoefficient" value="0.3"/>
+ <Property name="AxleRatio" value="2.813"/>
+ <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
+ <Property name="FrictionCoefficient" value="1.0"/>
+ <Property name="FrontSurface" value="2.2"/>
+ <Property name="GearRatio1" value="5.0"/>
+ <Property name="GearRatio2" value="3.2"/>
+ <Property name="GearRatio3" value="2.143"/>
+ <Property name="GearRatio4" value="1.72"/>
+ <Property name="GearRatio5" value="1.314"/>
+ <Property name="GearRatio6" value="1.0"/>
+ <Property name="GearRatio7" value="0.822"/>
+ <Property name="GearRatio8" value="0.64"/>
+ <Property name="Mass" value="1525.0"/>
+ <Property name="MaximumEngineSpeed" value="6000.0"/>
+ <Property name="MaximumEngineTorque" value="270.0"/>
+ <Property name="MinimumEngineSpeed" value="900.0"/>
+ <Property name="MinimumEngineTorque" value="-54.0"/>
+ <Property name="MomentInertiaPitch" value="0.0"/>
+ <Property name="MomentInertiaRoll" value="0.0"/>
+ <Property name="MomentInertiaYaw" value="0.0"/>
+ <Property name="NumberOfGears" value="8"/>
+ <Property name="SteeringRatio" value="10.7"/>
+ </Properties>
+ <BoundingBox>
+ <Center x="1.2" y="0.0" z="0.675"/>
+ <Dimensions width="1.68" length="3.89" height="1.35"/>
+ </BoundingBox>
+ <Performance maxSpeed="40.0" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
+ <Axles>
+ <FrontAxle maxSteering="0.5012" wheelDiameter="0.634" trackWidth="1.4" positionX="2.81" positionZ="0.317"/>
+ <RearAxle maxSteering="0.0" wheelDiameter="0.634" trackWidth="1.4" positionX="0.0" positionZ="0.317"/>
+ </Axles>
+ </Vehicle>
<Vehicle name="bus" vehicleCategory="truck">
<Properties>
<Property name="AirDragCoefficient" value="0.8"/>
@@ -246,6 +282,42 @@
<RearAxle maxSteering="0.0" wheelDiameter="0.808" trackWidth="1.8" positionX="0.0" positionZ="0.404"/>
</Axles>
</Vehicle>
+ <Vehicle name="lorry" vehicleCategory="truck">
+ <Properties>
+ <Property name="AirDragCoefficient" value="0.8"/>
+ <Property name="AxleRatio" value="4.0"/>
+ <Property name="DecelerationFromPowertrainDrag" value="1.0"/>
+ <Property name="FrictionCoefficient" value="1.0"/>
+ <Property name="FrontSurface" value="9.0"/>
+ <Property name="GearRatio1" value="6.316"/>
+ <Property name="GearRatio2" value="4.554"/>
+ <Property name="GearRatio3" value="3.269"/>
+ <Property name="GearRatio4" value="2.352"/>
+ <Property name="GearRatio5" value="1.692"/>
+ <Property name="GearRatio6" value="1.217"/>
+ <Property name="GearRatio7" value="0.876"/>
+ <Property name="GearRatio8" value="0.630"/>
+ <Property name="Mass" value="30000.0"/>
+ <Property name="MaximumEngineSpeed" value="2500.0"/>
+ <Property name="MaximumEngineTorque" value="1400.0"/>
+ <Property name="MinimumEngineSpeed" value="600.0"/>
+ <Property name="MinimumEngineTorque" value="-140.0"/>
+ <Property name="MomentInertiaPitch" value="0.0"/>
+ <Property name="MomentInertiaRoll" value="0.0"/>
+ <Property name="MomentInertiaYaw" value="0.0"/>
+ <Property name="NumberOfGears" value="8"/>
+ <Property name="SteeringRatio" value="15.0"/>
+ </Properties>
+ <BoundingBox>
+ <Center x="2.11" y="0.0" z="1.7"/>
+ <Dimensions width="2.93" length="8.47" height="3.4"/>
+ </BoundingBox>
+ <Performance maxSpeed="25.0" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
+ <Axles>
+ <FrontAxle maxSteering="0.4352" wheelDiameter="0.808" trackWidth="1.8" positionX="4.36" positionZ="0.404"/>
+ <RearAxle maxSteering="0.0" wheelDiameter="0.808" trackWidth="1.8" positionX="0.0" positionZ="0.404"/>
+ </Axles>
+ </Vehicle>
<Vehicle name="bicycle" vehicleCategory="bicycle">
<Properties>
<Property name="AirDragCoefficient" value="0.3"/>