From 7ede5176e6e1e5c5cb01e3d392691fb388c90b5a Mon Sep 17 00:00:00 2001
From: Fabian Oboril <fabian.oboril@intel.com>
Date: Mon, 8 Jul 2019 13:13:15 +0200
Subject: [PATCH] Fixed formatting of OpenScenario example files

Change-Id: I12ffc74a3f0d2219e0a6c428c55fd7784f99ba04
---
 srunner/configs/CyclistCrossing.xosc      | 618 +++++++++++-----------
 srunner/configs/FollowLeadingVehicle.xosc | 524 +++++++++---------
 2 files changed, 556 insertions(+), 586 deletions(-)

diff --git a/srunner/configs/CyclistCrossing.xosc b/srunner/configs/CyclistCrossing.xosc
index ac5cc0a9d..5b31227a2 100644
--- a/srunner/configs/CyclistCrossing.xosc
+++ b/srunner/configs/CyclistCrossing.xosc
@@ -1,319 +1,303 @@
-<?xml version="1.0" encoding="utf-8"?>
+<?xml version="1.0" encoding="UTF-8"?>
 <OpenSCENARIO>
-
-<FileHeader revMajor="0" revMinor="9" date="2019-06-25" description="CyclistCrossing" 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.tesla.model3" 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.diamondback.century" category="bicycle">
-        	<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="130" y="55" z="0" h="180"/>
-                    </Position>
-                </Action>
-            </Private>
-            <Private object="adversary">
-                <Action>
-                    <Position>
-                        <World x="95.5" y="41" z="0.2" 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="CyclistCrossingManeuver">
-                    <Event name="CyclistStartsWalking" priority="overwrite">
-                        <Action name="CyclistStartsWalking">
-                            <Private>
-				                <Longitudinal>
-				                    <Speed>
-				                        <Dynamics shape="step" rate="0" distance="1.5"/>
-				                        <Target>
-				                            <Absolute value="2.0"/>
-				                        </Target>
-				                    </Speed>
-				                </Longitudinal>
-                            </Private>
-                        </Action>
-                        <StartConditions>
-                            <ConditionGroup>
-                                <Condition name="StartCondition" delay="0" edge="rising">
-                                    <ByEntity>
-                                        <TriggeringEntities rule="any">
-                                            <Entity name="hero"/>
-                                        </TriggeringEntities>
-                                        <EntityCondition>
-                                            <RelativeDistance entity="adversary" type="inertial" value="14.0" freespace="false" rule="less_than" />
-                                        </EntityCondition>
-                                    </ByEntity>
-                                </Condition>
-                            </ConditionGroup>
-                        </StartConditions>
-                    </Event>
-                    <Event name="CyclistStopsAndWaits" priority="overwrite">
-                        <Action name="CyclistStopsAndWaits">
-                            <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="0.1">
-                                            </StandStill>
-                                        </EntityCondition>
-                                    </ByEntity>
-                                </Condition>
-                            </ConditionGroup>
-                        </StartConditions>
-                    </Event>
-                    <Event name="CyclistWalksAway" priority="overwrite">
-                        <Action name="CyclistStartsWalking">
-                            <Private>
-				                <Longitudinal>
-				                    <Speed>
-				                        <Dynamics shape="step" rate="0" distance="6.5"/>
-				                        <Target>
-				                            <Absolute value="2.0"/>
-				                        </Target>
-				                    </Speed>
-				                </Longitudinal>
-                            </Private>
-                        </Action>
-                        <StartConditions>
-                            <ConditionGroup>
-                                <Condition name="StartCondition" delay="0" edge="rising">
-                                    <ByEntity>
-                                        <TriggeringEntities rule="any">
-                                            <Entity name="hero"/>
-                                        </TriggeringEntities>
-                                        <EntityCondition>
-                                            <StandStill duration="0.1">
-                                            </StandStill>
-                                        </EntityCondition>
-                                    </ByEntity>
-                                </Condition>
-                            </ConditionGroup>
-                        </StartConditions>
-                    </Event>
-                    <Event name="CyclistWaits" priority="overwrite">
-                        <Action name="CyclistWaits">
-                            <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="0.1">
-                                            </StandStill>
-                                        </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">
-                    </Parameter>
-                </ByValue>
-            </Condition>
-            <Condition name="RunningRedLightTest" delay="0" edge="rising">
-                <ByValue>
-                    <Parameter name="" value="" rule="less_than">
-                    </Parameter>
-                </ByValue>
-            </Condition>
-            <Condition name="WrongLaneTest" delay="0" edge="rising">
-                <ByValue>
-                    <Parameter name="" value="" rule="less_than">
-                    </Parameter>
-                </ByValue>
-            </Condition>
-            <Condition name="OnSidewalkTest" delay="0" edge="rising">
-                <ByValue>
-                    <Parameter name="" value="" rule="less_than">
-                    </Parameter>
-                </ByValue>
-            </Condition>
-            <Condition name="KeepLaneTest" delay="0" edge="rising">
-                <ByValue>
-                    <Parameter name="" value="" rule="less_than">
-                    </Parameter>
-                </ByValue>
-            </Condition>
-            <Condition name="CollisionTest" delay="0" edge="rising">
-                <ByValue>
-                    <Parameter name="" value="" rule="less_than">
-                    </Parameter>
-                </ByValue>
-            </Condition>
-            <Condition name="DrivenDistanceTest" delay="0" edge="rising">
-                <ByValue>
-                    <Parameter name="distance_success" value="100" rule="less_than">
-                    </Parameter>
-                </ByValue>
-            </Condition>
-        </ConditionGroup>
-    </EndConditions>
-</Storyboard>
-
+    <FileHeader revMajor="0" revMinor="9" date="2019-06-25" description="CyclistCrossing" 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.tesla.model3" 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.diamondback.century" category="bicycle">
+                <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="130" y="55" z="0" h="180" />
+                        </Position>
+                    </Action>
+                </Private>
+                <Private object="adversary">
+                    <Action>
+                        <Position>
+                            <World x="95.5" y="41" z="0.2" 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="CyclistCrossingManeuver">
+                        <Event name="CyclistStartsWalking" priority="overwrite">
+                            <Action name="CyclistStartsWalking">
+                                <Private>
+                                    <Longitudinal>
+                                        <Speed>
+                                            <Dynamics shape="step" rate="0" distance="1.5" />
+                                            <Target>
+                                                <Absolute value="2.0" />
+                                            </Target>
+                                        </Speed>
+                                    </Longitudinal>
+                                </Private>
+                            </Action>
+                            <StartConditions>
+                                <ConditionGroup>
+                                    <Condition name="StartCondition" delay="0" edge="rising">
+                                        <ByEntity>
+                                            <TriggeringEntities rule="any">
+                                                <Entity name="hero" />
+                                            </TriggeringEntities>
+                                            <EntityCondition>
+                                                <RelativeDistance entity="adversary" type="inertial" value="14.0" freespace="false" rule="less_than" />
+                                            </EntityCondition>
+                                        </ByEntity>
+                                    </Condition>
+                                </ConditionGroup>
+                            </StartConditions>
+                        </Event>
+                        <Event name="CyclistStopsAndWaits" priority="overwrite">
+                            <Action name="CyclistStopsAndWaits">
+                                <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="0.1" />
+                                            </EntityCondition>
+                                        </ByEntity>
+                                    </Condition>
+                                </ConditionGroup>
+                            </StartConditions>
+                        </Event>
+                        <Event name="CyclistWalksAway" priority="overwrite">
+                            <Action name="CyclistStartsWalking">
+                                <Private>
+                                    <Longitudinal>
+                                        <Speed>
+                                            <Dynamics shape="step" rate="0" distance="6.5" />
+                                            <Target>
+                                                <Absolute value="2.0" />
+                                            </Target>
+                                        </Speed>
+                                    </Longitudinal>
+                                </Private>
+                            </Action>
+                            <StartConditions>
+                                <ConditionGroup>
+                                    <Condition name="StartCondition" delay="0" edge="rising">
+                                        <ByEntity>
+                                            <TriggeringEntities rule="any">
+                                                <Entity name="hero" />
+                                            </TriggeringEntities>
+                                            <EntityCondition>
+                                                <StandStill duration="0.1" />
+                                            </EntityCondition>
+                                        </ByEntity>
+                                    </Condition>
+                                </ConditionGroup>
+                            </StartConditions>
+                        </Event>
+                        <Event name="CyclistWaits" priority="overwrite">
+                            <Action name="CyclistWaits">
+                                <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="0.1" />
+                                            </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>
diff --git a/srunner/configs/FollowLeadingVehicle.xosc b/srunner/configs/FollowLeadingVehicle.xosc
index 2cffbbb0a..a0e12d4ba 100644
--- a/srunner/configs/FollowLeadingVehicle.xosc
+++ b/srunner/configs/FollowLeadingVehicle.xosc
@@ -1,271 +1,257 @@
-<?xml version="1.0" encoding="utf-8"?>
+<?xml version="1.0" encoding="UTF-8"?>
 <OpenSCENARIO>
-
-<FileHeader revMajor="0" revMinor="9" date="2019-06-25" description="FollowLeadingVehicle" 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.tesla.model3" 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="133" z="0" h="0"/>
-                    </Position>
-                </Action>
-            </Private>
-            <Private object="adversary">
-                <Action>
-                    <Position>
-                        <World x="190" y="133" z="0" h="0"/>
-                    </Position>
-                </Action>
-            </Private>
-        </Actions>
-    </Init>
-    <Story name="MyStory">
-        <Act name="Behavior">
-            <Sequence name="ManeuverSequence" numberOfExecutions="1">
-                <Actors>
-                    <Entity name="adversary"/>
-                </Actors>
-                <Maneuver name="FollowLeadingVehicleManeuver">
-                    <Event name="LeadingVehicleKeepsVelocity" priority="overwrite">
-                        <Action name="LeadingVehicleKeepsVelocity">
-                            <Private>
-				                <Longitudinal>
-				                    <Speed>
-				                        <Dynamics shape="step" rate="0" distance="20"/>
-				                        <Target>
-				                            <Absolute value="2.0"/>
-				                        </Target>
-				                    </Speed>
-				                </Longitudinal>
-                            </Private>
-                        </Action>
-                        <StartConditions>
-                            <ConditionGroup>
-                                <Condition name="StartCondition" delay="0" edge="rising">
-                                    <ByEntity>
-                                        <TriggeringEntities rule="any">
-                                            <Entity name="hero"/>
-                                        </TriggeringEntities>
-                                        <EntityCondition>
-                                            <RelativeDistance entity="adversary" type="inertial" value="40.0" freespace="false" rule="less_than" />
-                                        </EntityCondition>
-                                    </ByEntity>
-                                </Condition>
-                            </ConditionGroup>
-                        </StartConditions>
-                    </Event>
-                    <Event name="LeadingVehicleWaits" priority="overwrite">
-                        <Action name="LeadingVehicleWaits">
-                            <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="hero"/>
-                                        </TriggeringEntities>
-                                        <EntityCondition>
-                                            <RelativeDistance entity="adversary" type="inertial" value="5.0" freespace="false" rule="less_than" />
-                                        </EntityCondition>
-                                    </ByEntity>
-                                </Condition>
-                            </ConditionGroup>
-                        </StartConditions>
-                    </Event>
-                </Maneuver>
-            </Sequence>
-            <Conditions>
-                <Start>
-                    <ConditionGroup>
-                        <Condition name="StandStillCondition" delay="0" edge="rising">
-                            <ByEntity>
-                                <TriggeringEntities rule="any">
-                                    <Entity name="hero"/>
-                                </TriggeringEntities>
-                                <EntityCondition>
-                                    <StandStill duration="10.0">
-                                    </StandStill>
-                                </EntityCondition>
-                            </ByEntity>
-                        </Condition>
-                        <Condition name="OverallStartCondition" delay="0" edge="rising">
-                            <ByEntity>
-                                <TriggeringEntities rule="any">
-                                    <Entity name="hero"/>
-                                </TriggeringEntities>
-                                <EntityCondition>
-                                    <TraveledDistance value="1.0" />
-                                </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">
-                    </Parameter>
-                </ByValue>
-            </Condition>
-            <Condition name="RunningRedLightTest" delay="0" edge="rising">
-                <ByValue>
-                    <Parameter name="" value="" rule="less_than">
-                    </Parameter>
-                </ByValue>
-            </Condition>
-            <Condition name="WrongLaneTest" delay="0" edge="rising">
-                <ByValue>
-                    <Parameter name="" value="" rule="less_than">
-                    </Parameter>
-                </ByValue>
-            </Condition>
-            <Condition name="OnSidewalkTest" delay="0" edge="rising">
-                <ByValue>
-                    <Parameter name="" value="" rule="less_than">
-                    </Parameter>
-                </ByValue>
-            </Condition>
-            <Condition name="KeepLaneTest" delay="0" edge="rising">
-                <ByValue>
-                    <Parameter name="" value="" rule="less_than">
-                    </Parameter>
-                </ByValue>
-            </Condition>
-            <Condition name="CollisionTest" delay="0" edge="rising">
-                <ByValue>
-                    <Parameter name="" value="" rule="less_than">
-                    </Parameter>
-                </ByValue>
-            </Condition>
-            <Condition name="DrivenDistanceTest" delay="0" edge="rising">
-                <ByValue>
-                    <Parameter name="distance_success" value="100" rule="less_than">
-                    </Parameter>
-                </ByValue>
-            </Condition>
-        </ConditionGroup>
-    </EndConditions>
-</Storyboard>
-
+    <FileHeader revMajor="0" revMinor="9" date="2019-06-25" description="FollowLeadingVehicle" 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.tesla.model3" 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="133" z="0" h="0" />
+                        </Position>
+                    </Action>
+                </Private>
+                <Private object="adversary">
+                    <Action>
+                        <Position>
+                            <World x="190" y="133" z="0" h="0" />
+                        </Position>
+                    </Action>
+                </Private>
+            </Actions>
+        </Init>
+        <Story name="MyStory">
+            <Act name="Behavior">
+                <Sequence name="ManeuverSequence" numberOfExecutions="1">
+                    <Actors>
+                        <Entity name="adversary" />
+                    </Actors>
+                    <Maneuver name="FollowLeadingVehicleManeuver">
+                        <Event name="LeadingVehicleKeepsVelocity" priority="overwrite">
+                            <Action name="LeadingVehicleKeepsVelocity">
+                                <Private>
+                                    <Longitudinal>
+                                        <Speed>
+                                            <Dynamics shape="step" rate="0" distance="20" />
+                                            <Target>
+                                                <Absolute value="2.0" />
+                                            </Target>
+                                        </Speed>
+                                    </Longitudinal>
+                                </Private>
+                            </Action>
+                            <StartConditions>
+                                <ConditionGroup>
+                                    <Condition name="StartCondition" delay="0" edge="rising">
+                                        <ByEntity>
+                                            <TriggeringEntities rule="any">
+                                                <Entity name="hero" />
+                                            </TriggeringEntities>
+                                            <EntityCondition>
+                                                <RelativeDistance entity="adversary" type="inertial" value="40.0" freespace="false" rule="less_than" />
+                                            </EntityCondition>
+                                        </ByEntity>
+                                    </Condition>
+                                </ConditionGroup>
+                            </StartConditions>
+                        </Event>
+                        <Event name="LeadingVehicleWaits" priority="overwrite">
+                            <Action name="LeadingVehicleWaits">
+                                <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="hero" />
+                                            </TriggeringEntities>
+                                            <EntityCondition>
+                                                <RelativeDistance entity="adversary" type="inertial" value="5.0" freespace="false" rule="less_than" />
+                                            </EntityCondition>
+                                        </ByEntity>
+                                    </Condition>
+                                </ConditionGroup>
+                            </StartConditions>
+                        </Event>
+                    </Maneuver>
+                </Sequence>
+                <Conditions>
+                    <Start>
+                        <ConditionGroup>
+                            <Condition name="StandStillCondition" delay="0" edge="rising">
+                                <ByEntity>
+                                    <TriggeringEntities rule="any">
+                                        <Entity name="hero" />
+                                    </TriggeringEntities>
+                                    <EntityCondition>
+                                        <StandStill duration="10.0" />
+                                    </EntityCondition>
+                                </ByEntity>
+                            </Condition>
+                            <Condition name="OverallStartCondition" delay="0" edge="rising">
+                                <ByEntity>
+                                    <TriggeringEntities rule="any">
+                                        <Entity name="hero" />
+                                    </TriggeringEntities>
+                                    <EntityCondition>
+                                        <TraveledDistance value="1.0" />
+                                    </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>