Commit 3c4e6451 authored by konstantin blenz's avatar konstantin blenz
Browse files

Addition of modular-driver examples

parent 481bcbde
<?xml version="1.0"?>
<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/>
<BoundingBox>
<Center x="0.0645" 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">
<ParameterDeclarations/>
<BoundingBox>
<Center x="0.1" y="0.0" z="0.9"/>
<Dimensions width="0.5" length="0.6" height="1.8"/>
</BoundingBox>
<Properties/>
</Pedestrian>
</Catalog>
</OpenSCENARIO>
<Profiles SchemaVersion="0.4.2">
<AgentProfiles>
<AgentProfile Name="EgoAgent" Type="Static">
<System>
<File>systemConfigRegular.xml</File>
<Id>0</Id>
</System>
<VehicleModel>car_bmw_7_1</VehicleModel>
</AgentProfile>
<AgentProfile Name="ModularDriverAgent" Type="Static">
<System>
<File>systemConfigRegular.xml</File>
<Id>0</Id>
</System>
<VehicleModel>car_bmw_7_1</VehicleModel>
</AgentProfile>
<AgentProfile Name="ModularDriverFailure" Type="Static">
<System>
<File>systemConfigFailure.xml</File>
<Id>0</Id>
</System>
<VehicleModel>car_bmw_7_1</VehicleModel>
</AgentProfile>
<AgentProfile Name="ModularTruckDriverAgent" Type="Static">
<System>
<File>systemConfigTruck.xml</File>
<Id>0</Id>
</System>
<VehicleModel>truck</VehicleModel>
</AgentProfile>
<AgentProfile Name="ModularTruckDriverFailureAgent" Type="Static">
<System>
<File>systemConfigTruckFailure.xml</File>
<Id>0</Id>
</System>
<VehicleModel>truck</VehicleModel>
</AgentProfile>
<AgentProfile Name="ModularDriverJam" Type="Static">
<System>
<File>systemConfigJam.xml</File>
<Id>0</Id>
</System>
<VehicleModel>truck</VehicleModel>
</AgentProfile>
</AgentProfiles>
<VehicleProfiles>
<VehicleProfile Name="BMW 7 1">
<Model Name="car_bmw_7_1"/>
<Components/>
<Sensors/>
</VehicleProfile>
<VehicleProfile Name="BMW 7 2">
<Model Name="car_bmw_7_2"/>
<Components/>
<Sensors/>
</VehicleProfile>
<VehicleProfile Name="Mini Cooper">
<Model Name="car_mini_cooper"/>
<Components/>
<Sensors/>
</VehicleProfile>
<VehicleProfile Name="BMW i3">
<Model Name="car_bmw_i3"/>
<Components/>
<Sensors/>
</VehicleProfile>
<VehicleProfile Name="BMW 3">
<Model Name="car_bmw_3"/>
<Components/>
<Sensors/>
</VehicleProfile>
<VehicleProfile Name="Truck">
<Model Name="truck"/>
<Components/>
<Sensors/>
</VehicleProfile>
<VehicleProfile Name="Bus">
<Model Name="bus"/>
<Components/>
<Sensors/>
</VehicleProfile>
</VehicleProfiles>
<ProfileGroup Type="TrafficGroup">
<Profile Name="ModularRuntimeCommon">
<List Name="AgentProfiles">
<ListItem>
<String Key="Name" Value="ModularDriverAgent"/>
<Double Key="Weight" Value="0.8"/>
</ListItem>
<ListItem>
<String Key="Name" Value="ModularDriverFailure"/>
<Double Key="Weight" Value="0.2"/>
</ListItem>
</List>
<NormalDistribution Key="Velocity" Max="43.685" Mean="31.475" Min="19.265" SD="6.105"/>
<LogNormalDistribution Key="TGap" Max="34.467" Min="1.276" Mu="1.892" Sigma="0.824"/>
<DoubleVector Key="Homogeneity" Value="0.820, 1.0"/>
</Profile>
<Profile Name="ModularRuntimeRightMostLane">
<List Name="AgentProfiles">
<ListItem>
<String Key="Name" Value="ModularTruckDriverFailureAgent"/>
<Double Key="Weight" Value="0.02"/>
</ListItem>
<ListItem>
<String Key="Name" Value="ModularTruckDriverAgent"/>
<Double Key="Weight" Value="0.08"/>
</ListItem>
<ListItem>
<String Key="Name" Value="ModularDriverAgent"/>
<Double Key="Weight" Value="0.8"/>
</ListItem>
<ListItem>
<String Key="Name" Value="ModularDriverFailure"/>
<Double Key="Weight" Value="0.1"/>
</ListItem>
</List>
<NormalDistribution Key="Velocity" Max="43.685" Mean="31.475" Min="19.265" SD="6.105"/>
<LogNormalDistribution Key="TGap" Max="34.467" Min="1.276" Mu="1.892" Sigma="0.824"/>
<DoubleVector Key="Homogeneity" Value="0.820, 1.0"/>
</Profile>
</ProfileGroup>
<ProfileGroup Type="Spawner">
<Profile Name="DefaultPreRunCommon">
<List Name="SpawnPoints">
<ListItem>
<StringVector Key="Roads" Value="1"/>
<IntVector Key="Lanes" Value="-1,-2,-3,-4,-5"/>
<Double Key="SStart" Value="0.0"/>
<Double Key="SEnd" Value="1040.0"/>
</ListItem>
</List>
<List Name="TrafficGroups">
<ListItem>
<Double Key="Weight" Value="1"/>
<Reference Type="TrafficGroup" Name="ModularRuntimeCommon"/>
</ListItem>
</List>
</Profile>
<Profile Name="DefaultPreRunRightMostLane">
<List Name="SpawnPoints">
<ListItem>
<StringVector Key="Roads" Value="1"/>
<IntVector Key="Lanes" Value="-5"/>
<Double Key="SStart" Value="0.0"/>
<Double Key="SEnd" Value="1040.0"/>
</ListItem>
</List>
<List Name="TrafficGroups">
<ListItem>
<Double Key="Weight" Value="1"/>
<Reference Type="TrafficGroup" Name="ModularRuntimeRightMostLane"/>
</ListItem>
</List>
</Profile>
<Profile Name="DefaultRuntimeCommon">
<List Name="SpawnPoints">
<ListItem>
<StringVector Key="Roads" Value="1"/>
<IntVector Key="Lanes" Value="-1,-2,-3,-4,-5"/>
<Double Key="SCoordinate" Value="0.0"/>
</ListItem>
</List>
<List Name="TrafficGroups">
<ListItem>
<Double Key="Weight" Value="1"/>
<Reference Type="TrafficGroup" Name="ModularRuntimeCommon"/>
</ListItem>
</List>
</Profile>
<Profile Name="DefaultRuntimeRightMostLane">
<List Name="SpawnPoints">
<ListItem>
<StringVector Key="Roads" Value="1"/>
<IntVector Key="Lanes" Value="-5"/>
<Double Key="SCoordinate" Value="0.0"/>
</ListItem>
</List>
<List Name="TrafficGroups">
<ListItem>
<Double Key="Weight" Value="1"/>
<Reference Type="TrafficGroup" Name="ModularRuntimeRightMostLane"/>
</ListItem>
</List>
</Profile>
</ProfileGroup>
</Profiles>
<?xml version="1.0"?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-06-22T15:00:00" 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="EgoAgent"/>
</ScenarioObject>
<ScenarioObject name="Jam1">
<CatalogReference catalogName="ProfilesCatalog.xml" entryName="ModularDriverJam"/>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members>
<ByEntity name= "Jam1" />
</Members>
</EntitySelection>
</Entities>
<Storyboard>
<Init>
<Actions>
<Private entityRef="Ego">
<PrivateAction>
<TeleportAction>
<Position>
<LanePosition roadId="1" laneId="-3" offset="0.0" s="0"/>
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="30"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Private>
<Private entityRef="Jam1">
<PrivateAction>
<TeleportAction>
<Position>
<LanePosition laneId="-3" offset="0.0" roadId="1" s="500"/> <!-- position -->
</Position>
</TeleportAction>
</PrivateAction>
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story/>
<StopTrigger>
<ConditionGroup>
<Condition name="EndTime" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="120.0" rule="greaterThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Storyboard>
</OpenSCENARIO>
<?xml version="1.0" ?>
<!--
*******************************************************************************
This file contains the configuration of the scenery of the virtual world
Currently located in the folder of the OpenPassSlave.exe.
*******************************************************************************
-->
<OpenDRIVE>
<header revMajor="1" revMinor="1" name="Testfile" version="1" date="Thu Feb 8 14:24:06 2007" north="2.0000000000000000e+003" south="-2.0000000000000000e+003" east="2.0000000000000000e+003" west="-2.0000000000000000e+003" />
<road name="" length="3139.7188686309819" id="1" junction="-1">
<link />
<planView>
<geometry s="0.0000000000000000e+000" x="0" y="7.5" hdg="0" length="5000">
<line />
</geometry>
<geometry s="5000" x="5000" y="7.5" hdg="0" length="285">
<spiral curvStart="0.0000000000000000e+000" curvEnd="-0.0028500000000000066" />
</geometry>
<geometry s="5285" x="5280.3350391612494" y="-30.629710830536482" hdg="-0.40612500000000096" length="183.7188686309816">
<arc curvature="-0.0028500000000000066" />
</geometry>
<geometry s="5468.7188686309819" x="5422.9323279193268" y="-143.12204699500415" hdg="-0.92972377559829977" length="571">
<spiral curvStart="-0.0028500000000000066" curvEnd="0.0000000000000000e+000" />
</geometry>
<geometry s="6039.7188686309819" x="5476.6651848689908" y="-694.88624436808436" hdg="-1.7453292519943295" length="100">
<line />
</geometry>
</planView>
<elevationProfile />
<lateralProfile />
<lanes>
<laneSection s="0.0000000000000000e+000">
<left />
<center>
<lane id="0" type="border" level="true">
<link>
<successor id="0" />
</link>
<roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="both"/>
</lane>
</center>
<right>
<lane id="-1" type="driving" level="true">
<link>
<successor id="-1" />
</link>
<width sOffset="0" a="3.75" b="0" c="0" d="0" />
<roadMark weight='standard' sOffset='0' type='broken' color='standard' width='0.12' laneChange='both' />
</lane>
<lane id="-2" type="driving" level="true">
<link>
<successor id="-2" />
</link>
<width sOffset="0" a="3.75" b="0" c="0" d="0" />
<roadMark weight='standard' sOffset='0' type='broken' color='standard' width='0.12' laneChange='both' />
</lane>
<lane id="-3" type="driving" level="true">
<link>
<successor id="-3" />
</link>
<width sOffset="0" a="3.75" 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 type="RoadSideMarkerPost" name="" id="" s="0" t="1" zOffset="0" validLength="0" orientation="+" length="0.12" width="0.12" height="1.2" hdg="0" pitch="0" roll="0">
<repeat s="0" distance = "50" length="5139.7188686309819"/>
</object>
<object type="RoadSideMarkerPost" name="" id="" s="0" t="-12" zOffset="0" validLength="0" orientation="-" length="0.12" width="0.12" height="1.2" hdg="0" pitch="0" roll="0">
<repeat s="0" distance = "50" length="5139.7188686309819"/>
</object>
<object type="GuardRail" name="Leitplanke" id="" s="0" t="0.5" zOffset="0" validLength="0" orientation="+" length="3.0" width="0.25" height="0.9" hdg="0" pitch="0" roll="0">
<repeat s="0" distance = "0" length="5139.7188686309819"/>
</object>
<object type="GuardRail" name="Leitplanke" id="" s="0" t="-11.5" zOffset="0" validLength="0" orientation="-" length="3.0" width="0.25" height="0.9" hdg="0" pitch="0" roll="0">
<repeat s="0" distance = "0" length="5139.7188686309819"/>
</object>
</objects>
<signals>
<signal s="100.000e+000" t="0.00000000e+000" id="1" name="sl01" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" type="274" country="OpenDRIVE" subtype="130" value="130" hOffset="0" pitch="0" validity="true"/>
</signals>
</road>
</OpenDRIVE>
\ No newline at end of file
<?xml version="1.0"?>
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-06-26T00:17:00" description="openPASS vehicle models" author="in-tech GmbH"/>
<Catalog name="VehicleCatalog">
<Vehicle name="car_bmw_i3" vehicleCategory="car">
<Properties>
<Property name="AirDragCoefficient" value="0.3"/>
<Property name="AxleRatio" value="1.0"/>
<Property name="DecelerationFromPowertrainDrag" value="0.5"/>
<Property name="FrictionCoefficient" value="1.0"/>
<Property name="FrontSurface" value="2.38"/>
<Property name="GearRatio1" value="9.665"/>
<Property name="Mass" value="1320.0"/>
<Property name="MaximumEngineSpeed" value="6000.0"/>
<Property name="MaximumEngineTorque" value="250.0"/>
<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="1"/>
<Property name="SteeringRatio" value="10.7"/>
</Properties>
<BoundingBox>
<Center x="1.25" y="0.0" z="0.84"/>
<Dimensions width="2.04" length="3.96" height="1.68"/>
</BoundingBox>
<Performance maxSpeed="41.67" maxAcceleration="8" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.5282" wheelDiameter="0.682" trackWidth="1.8" positionX="2.52" positionZ="0.341"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/>
</Axles>
</Vehicle>
<Vehicle name="car_bmw_3" 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="1.285" y="0.0" z="0.72"/>
<Dimensions width="1.96" length="4.63" height="1.44"/>
</BoundingBox>
<Performance maxSpeed="69.44" maxAcceleration="8" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.5012" wheelDiameter="0.634" trackWidth="1.8" positionX="2.81" positionZ="0.317"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.634" trackWidth="1.8" positionX="0.0" positionZ="0.317"/>
</Axles>
</Vehicle>
<Vehicle name="car_bmw_7_1" vehicleCategory="car">
<Properties>
<Property name="AirDragCoefficient" value="0.3"/>
<Property name="AxleRatio" value="3.077"/>
<Property name="DecelerationFromPowertrainDrag" value="0.5"/>
<Property name="FrictionCoefficient" value="1.0"/>
<Property name="FrontSurface" value="2.42"/>
<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="1845.0"/>
<Property name="MaximumEngineSpeed" value="6000.0"/>
<Property name="MaximumEngineTorque" value="450.0"/>
<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="1.46" y="0.0" z="0.755"/>
<Dimensions width="2.18" length="5.26" height="1.51"/>
</BoundingBox>
<Performance maxSpeed="69.44" maxAcceleration="8" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.5226" wheelDiameter="0.682" trackWidth="1.8" positionX="3.22" positionZ="0.341"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/>
</Axles>
</Vehicle>
<Vehicle name="car_bmw_7_2" vehicleCategory="car">
<Properties>
<Property name="AirDragCoefficient" value="0.3"/>
<Property name="AxleRatio" value="3.077"/>
<Property name="DecelerationFromPowertrainDrag" value="0.5"/>
<Property name="FrictionCoefficient" value="1.0"/>
<Property name="FrontSurface" value="2.42"/>
<Property name="GearRatio1" value="4.714"/>
<Property name="GearRatio2" value="3.143"/>
<Property name="GearRatio3" value="2.106"/>
<Property name="GearRatio4" value="1.667"/>
<Property name="GearRatio5" value="1.285"/>
<Property name="GearRatio6" value="1.0"/>
<Property name="GearRatio7" value="0.839"/>
<Property name="GearRatio8" value="0.667"/>
<Property name="Mass" value="1900.0"/>
<Property name="MaximumEngineSpeed" value="6000.0"/>
<Property name="MaximumEngineTorque" value="450.0"/>
<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="1.485" y="0.0" z="0.745"/>
<Dimensions width="2.16" length="5.27" height="1.49"/>
</BoundingBox>
<Performance maxSpeed="69.44" maxAcceleration="8" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.5279" wheelDiameter="0.682" trackWidth="1.8" positionX="3.25" positionZ="0.341"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/>
</Axles>
</Vehicle>
<Vehicle name="car_mini_cooper" vehicleCategory="car">
<Properties>
<Property name="AirDragCoefficient" value="0.3"/>
<Property name="AxleRatio" value="3.789"/>
<Property name="DecelerationFromPowertrainDrag" value="0.5"/>
<Property name="FrictionCoefficient" value="1.0"/>
<Property name="FrontSurface" value="2.07"/>
<Property name="GearRatio1" value="4.154"/>
<Property name="GearRatio2" value="2.45"/>
<Property name="GearRatio3" value="1.557"/>
<Property name="GearRatio4" value="1.09"/>
<Property name="GearRatio5" value="0.843"/>
<Property name="GearRatio6" value="0.675"/>
<Property name="GearRatio7" value="0.547"/>
<Property name="Mass" value="1235.0"/>
<Property name="MaximumEngineSpeed" value="6000.0"/>
<Property name="MaximumEngineTorque" value="220.0"/>
<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="7"/>
<Property name="SteeringRatio" value="10.7"/>
</Properties>
<BoundingBox>
<Center x="1.35" y="0.0" z="0.71"/>
<Dimensions width="1.89" length="3.8" height="1.42"/>
</BoundingBox>
<Performance maxSpeed="58.33" maxAcceleration="8" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.4766" wheelDiameter="0.59" trackWidth="1.8" positionX="2.48" positionZ="0.295"/>