Commit a11518cc authored by David Weiß's avatar David Weiß Committed by Reinhard Biegel
Browse files

feat(Configs): Example configs for Bicyclist

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<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>
<?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>
<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>
<?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>
<o