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jS5t3r/negative_car.xosc

Created November 4, 2019 17:02
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Adversary car should be able to drive backwards.
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negative_car.xosc
<?xml version="1.0" encoding="UTF-8"?>
<OpenSCENARIO>
<FileHeader revMajor="0" revMinor="9" date="2019-06-25" description="PedestrianCrossing" author="" />
<Catalogs>
<VehicleCatalog>
<Directory path="Catalogs/VehicleCatalogs" />
</VehicleCatalog>
<DriverCatalog>
<Directory path="Catalogs/DriverCatalogs" />
</DriverCatalog>
<PedestrianCatalog>
<Directory path="Catalogs/ObserverCatalogs" />
</PedestrianCatalog>
<PedestrianControllerCatalog>
<Directory path="Catalogs/PedestrianCatalogs" />
</PedestrianControllerCatalog>
<MiscObjectCatalog>
<Directory path="Catalogs/MiscObjectCatalogs" />
</MiscObjectCatalog>
<EnvironmentCatalog>
<Directory path="Catalogs/EnvironmentCatalogs" />
</EnvironmentCatalog>
<ManeuverCatalog>
<Directory path="Catalogs/ManeuverCatalogs" />
</ManeuverCatalog>
<TrajectoryCatalog>
<Directory path="Catalogs/TrajectoryCatalog" />
</TrajectoryCatalog>
<RouteCatalog>
<Directory path="Catalogs/RoutingCatalog" />
</RouteCatalog>
</Catalogs>
<RoadNetwork>
<Logics filepath="Town01" />
<SceneGraph filepath="" />
</RoadNetwork>
<Entities>
<Object name="hero">
<Vehicle name="vehicle.volkswagen.t2" category="car">
<ParameterDeclaration />
<Performance maxSpeed="69.444" maxDeceleration="10.0" mass="1800.0" />
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9" />
<Dimension width="2.1" length="4.5" height="1.8" />
</BoundingBox>
<Axles>
<Front maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3" />
<Rear maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3" />
</Axles>
<Properties>
<Property name="rolename" value="hero" />
<Property name="type" value="ego_vehicle" />
</Properties>
</Vehicle>
</Object>
<Object name="adversary">
<Vehicle name="vehicle.lincoln.mkz2017" category="car">
<ParameterDeclaration />
<Performance maxSpeed="69.444" maxDeceleration="10.0" mass="1800.0" />
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9" />
<Dimension width="2.1" length="4.5" height="1.8" />
</BoundingBox>
<Axles>
<Front maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3" />
<Rear maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3" />
</Axles>
<Properties>
<Property name="rolename" value="adversary" />
<Property name="type" value="simulation" />
</Properties>
</Vehicle>
</Object>
</Entities>
<Storyboard>
<Init>
<Actions>
<Global>
<SetEnvironment>
<Environment name="Environment1">
<TimeOfDay animation="false">
<Time hour="12" min="0" sec="0.0" />
<Date day="25" month="6" year="2019" />
</TimeOfDay>
<Weather cloudState="free">
<Sun intensity="1.0" azimuth="0.0" elevation="1.571" />
<Fog visualRange="100000.0" />
<Precipitation type="dry" intensity="0.0" />
</Weather>
<RoadCondition frictionScale="1.0" />
</Environment>
</SetEnvironment>
</Global>
<Private object="hero">
<Action>
<Position>
<World x="150" y="55" z="0" h="180" />
</Position>
</Action>
</Private>
<Private object="adversary">
<Action>
<Position>
<World x="110" y="54.5" z="0.3" h="180" />
</Position>
</Action>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behavior">
<Sequence name="ManeuverSequence" numberOfExecutions="1">
<Actors>
<Entity name="adversary"/>
</Actors>
<Maneuver name="PedestrianCrossingManeuver">
<Event name="PedestrianStartsWalking" priority="overwrite">
<Action name="PedestrianStartsWalking">
<Private>
<Longitudinal>
<Speed>
<Dynamics shape="step" rate="0" distance="4.5" />
<Target>
<Absolute value="-10.0" />
</Target>
</Speed>
</Longitudinal>
</Private>
</Action>
<StartConditions>
<ConditionGroup>
<Condition name="StartCondition" delay="0" edge="rising">
<ByEntity>
<TriggeringEntities rule="any">
<Entity name="hero" />
</TriggeringEntities>
<EntityCondition>
<ReachPosition tolerance="2.0">
<Position>
<World x="140" y="55" z="0" h="180" />
</Position>
</ReachPosition>
</EntityCondition>
</ByEntity>
</Condition>
</ConditionGroup>
</StartConditions>
</Event>
<Event name="PedestrianStopsAndWaits" priority="overwrite">
<Action name="PedestrianStopsAndWaits">
<Private>
<Longitudinal>
<Speed>
<Dynamics shape="step" rate="0" time="10" />
<Target>
<Absolute value="0.0" />
</Target>
</Speed>
</Longitudinal>
</Private>
</Action>
<StartConditions>
<ConditionGroup>
<Condition name="StartCondition" delay="0" edge="rising">
<ByEntity>
<TriggeringEntities rule="any">
<Entity name="adversary" />
</TriggeringEntities>
<EntityCondition>
<StandStill duration="1" />
</EntityCondition>
</ByEntity>
</Condition>
</ConditionGroup>
</StartConditions>
</Event>
</Maneuver>
</Sequence>
<Conditions>
<Start>
<ConditionGroup>
<Condition name="OverallStartCondition" delay="0" edge="rising">
<ByEntity>
<TriggeringEntities rule="any">
<Entity name="hero" />
</TriggeringEntities>
<EntityCondition>
<TraveledDistance value="10.0" />
</EntityCondition>
</ByEntity>
</Condition>
</ConditionGroup>
</Start>
<End>
<ConditionGroup>
<Condition name="EndCondition" delay="0" edge="rising">
<ByEntity>
<TriggeringEntities rule="any">
<Entity name="hero" />
</TriggeringEntities>
<EntityCondition>
<TraveledDistance value="200.0" />
</EntityCondition>
</ByEntity>
</Condition>
</ConditionGroup>
</End>
</Conditions>
</Act>
</Story>
<EndConditions>
<ConditionGroup>
<Condition name="RunningStopTest" delay="0" edge="rising">
<ByValue>
<Parameter name="" value="" rule="less_than" />
</ByValue>
</Condition>
<Condition name="RunningRedLightTest" delay="0" edge="rising">
<ByValue>
<Parameter name="" value="" rule="less_than" />
</ByValue>
</Condition>
<Condition name="WrongLaneTest" delay="0" edge="rising">
<ByValue>
<Parameter name="" value="" rule="less_than" />
</ByValue>
</Condition>
<Condition name="OnSidewalkTest" delay="0" edge="rising">
<ByValue>
<Parameter name="" value="" rule="less_than" />
</ByValue>
</Condition>
<Condition name="KeepLaneTest" delay="0" edge="rising">
<ByValue>
<Parameter name="" value="" rule="less_than" />
</ByValue>
</Condition>
<Condition name="CollisionTest" delay="0" edge="rising">
<ByValue>
<Parameter name="" value="" rule="less_than" />
</ByValue>
</Condition>
<Condition name="DrivenDistanceTest" delay="0" edge="rising">
<ByValue>
<Parameter name="distance_success" value="100" rule="less_than" />
</ByValue>
</Condition>
</ConditionGroup>
</EndConditions>
</Storyboard>
</OpenSCENARIO>
@ronyshaji
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@jS5t3r Hey, Did the negative velocity script work?

@jS5t3r
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jS5t3r commented Aug 4, 2023 •
edited

No, it did not work at that time. You must change the gear first and the velocity must stay positive. I haven't continued working on that.

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