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testemplanner.pex
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<?xml version="1.0" encoding="utf-8"?>
<Experiment xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" Description="" id="testemplanner" UniqueId="0" TotalSimulationTime="245" Built="true" EnableCollisionDetection="false" MaxNumberOfCollisions="5" EnableTestAutomation="false" Generate3DTrajectories="false" VisualizeSensorBeams="false" VisualizeBoundingBoxes="false" Parsed="true" PrecipitationRandomSeed="0" PRESCANVersion="8.5.0" ResourcesDir="Resources" SensorRandomSeed="0" SimulationGenerationHash="738CFD1C60979091FD8D2D75758F57680A6E61964C63789DE423516C4EB0539A" UniqueExperimentIdentifier="0d85eb1a-f82a-4eb2-b224-e8f5e019c448" UniqueIdCounter="788" VisuAidMaxRenderingDistance="750" VisuAidMinRenderingDistance="0.1" WeatherTypeName="None">
<Actors>
<Actor xsi:type="GenericModel" Description="A model of an Audi A8 Sedan" id="Audi_A8_Sedan_1" UniqueId="22" SensorIDDetection="true" NumericalID="3" ObjectTypeID="1" ParticipateInCollisionDetection="false" DynamicsConfiguration="UserSpecified" DiscreteModeActivated="false" Reference="false" UserSpecifiedControl="false" JavaClass="" PhysicsSimpleDynamicsInteraction="PhysicsInheritsFromSD" ActorKind="Audi_A8_Sedan" AnimatedActor="false" CompilationSheetPicture="Audi_A8_HighPoly.png" HashCode="d771622804618130053427da08a6d484" ModelFile="Vehicles\Audi_A8\Audi_A8.osgb" GenericModelSourceFile="Vehicles\Audi_A8\Audi_A8.pgmb" FileLocationType="ModelDepo" SupportedDynamics="None Simple SimpleTD UserSpecified">
<Location X="-1.000697135925293" Y="2.7322778701782227" Z="0.550000011920929" />
<Orientation Bank="0" Tilt="0" Heading="0" />
<Origin X="0.25" Y="0.5" Z="0" />
<Size X="5.2100000381469727" Y="2.0399999618530273" Z="1.440000057220459" />
<CoGOffset X="1.7700001001358032" Y="0" Z="0.550000011920929" />
<SensorInfo>
<TISSensorInfo DefaultORMFile="DefaultORM.txt">
<UserSpecifiedModels />
</TISSensorInfo>
</SensorInfo>
<ObjectSimulatorInfo RealObjectShape="BLOCKSHAPE" StateActuator="true" SelfSensor="true" AlwaysOnCompilationSheet="false">
<VisualizationActuators>
<VisualizationActuator xsi:type="JointActuator" ActuatorName="JointActuator" EnableActuator="false" ShowInAnimationList="false" ID="Joint_MVZOGDCDXH" DisplayName="SteeringWheel">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_Translate_SteeringWheel_pivot" ObjectID3D="SteeringWheel_pivot" AttributeID="translation" />
<VisuPortElement PortID="visu_Rotate_SteeringWheel_pivot" ObjectID3D="SteeringWheel_pivot" AttributeID="rotation_rpy" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="JointActuator" ActuatorName="JointActuator" EnableActuator="false" ShowInAnimationList="false" ID="Joint_GELWQQXKRQ" DisplayName="SteeringColumn">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_Translate_SteeringColumn_pivot" ObjectID3D="SteeringColumn_pivot" AttributeID="translation" />
<VisuPortElement PortID="visu_Rotate_SteeringColumn_pivot" ObjectID3D="SteeringColumn_pivot" AttributeID="rotation_rpy" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="JointActuator" ActuatorName="JointActuator" EnableActuator="false" ShowInAnimationList="false" ID="Joint_NNTFDGFPPF" DisplayName="WheelL0_Suspension">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_Translate_WheelL0_Suspension" ObjectID3D="WheelL0_Suspension" AttributeID="translation" />
<VisuPortElement PortID="visu_Rotate_WheelL0_Suspension" ObjectID3D="WheelL0_Suspension" AttributeID="rotation_rpy" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="JointActuator" ActuatorName="JointActuator" EnableActuator="false" ShowInAnimationList="false" ID="Joint_GDAPZKXNWK" DisplayName="WheelL0_SteerPivot">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_Translate_WheelL0_SteerPivot" ObjectID3D="WheelL0_SteerPivot" AttributeID="translation" />
<VisuPortElement PortID="visu_Rotate_WheelL0_SteerPivot" ObjectID3D="WheelL0_SteerPivot" AttributeID="rotation_rpy" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="JointActuator" ActuatorName="JointActuator" EnableActuator="false" ShowInAnimationList="false" ID="Joint_PAEQXBQJKB" DisplayName="WheelL0">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_Translate_WheelL0" ObjectID3D="WheelL0" AttributeID="translation" />
<VisuPortElement PortID="visu_Rotate_WheelL0" ObjectID3D="WheelL0" AttributeID="rotation_rpy" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="JointActuator" ActuatorName="JointActuator" EnableActuator="false" ShowInAnimationList="false" ID="Joint_NQMUENPZSL" DisplayName="WheelL1_Suspension">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_Translate_WheelL1_Suspension" ObjectID3D="WheelL1_Suspension" AttributeID="translation" />
<VisuPortElement PortID="visu_Rotate_WheelL1_Suspension" ObjectID3D="WheelL1_Suspension" AttributeID="rotation_rpy" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="JointActuator" ActuatorName="JointActuator" EnableActuator="false" ShowInAnimationList="false" ID="Joint_ICUYPQOLKC" DisplayName="WheelL1_SteerPivot">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_Translate_WheelL1_SteerPivot" ObjectID3D="WheelL1_SteerPivot" AttributeID="translation" />
<VisuPortElement PortID="visu_Rotate_WheelL1_SteerPivot" ObjectID3D="WheelL1_SteerPivot" AttributeID="rotation_rpy" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="JointActuator" ActuatorName="JointActuator" EnableActuator="false" ShowInAnimationList="false" ID="Joint_CAZNURXTPZ" DisplayName="WheelL1">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_Translate_WheelL1" ObjectID3D="WheelL1" AttributeID="translation" />
<VisuPortElement PortID="visu_Rotate_WheelL1" ObjectID3D="WheelL1" AttributeID="rotation_rpy" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="JointActuator" ActuatorName="JointActuator" EnableActuator="false" ShowInAnimationList="false" ID="Joint_HOHHNLFPQK" DisplayName="WheelR0_Suspension">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_Translate_WheelR0_Suspension" ObjectID3D="WheelR0_Suspension" AttributeID="translation" />
<VisuPortElement PortID="visu_Rotate_WheelR0_Suspension" ObjectID3D="WheelR0_Suspension" AttributeID="rotation_rpy" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="JointActuator" ActuatorName="JointActuator" EnableActuator="false" ShowInAnimationList="false" ID="Joint_VXJCBNABYZ" DisplayName="WheelR0_SteerPivot">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_Translate_WheelR0_SteerPivot" ObjectID3D="WheelR0_SteerPivot" AttributeID="translation" />
<VisuPortElement PortID="visu_Rotate_WheelR0_SteerPivot" ObjectID3D="WheelR0_SteerPivot" AttributeID="rotation_rpy" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="JointActuator" ActuatorName="JointActuator" EnableActuator="false" ShowInAnimationList="false" ID="Joint_UQQPPOAVFX" DisplayName="WheelR0">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_Translate_WheelR0" ObjectID3D="WheelR0" AttributeID="translation" />
<VisuPortElement PortID="visu_Rotate_WheelR0" ObjectID3D="WheelR0" AttributeID="rotation_rpy" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="JointActuator" ActuatorName="JointActuator" EnableActuator="false" ShowInAnimationList="false" ID="Joint_FRIZBQNGOB" DisplayName="WheelR1_Suspension">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_Translate_WheelR1_Suspension" ObjectID3D="WheelR1_Suspension" AttributeID="translation" />
<VisuPortElement PortID="visu_Rotate_WheelR1_Suspension" ObjectID3D="WheelR1_Suspension" AttributeID="rotation_rpy" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="JointActuator" ActuatorName="JointActuator" EnableActuator="false" ShowInAnimationList="false" ID="Joint_TAEDKVZWOO" DisplayName="WheelR1_SteerPivot">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_Translate_WheelR1_SteerPivot" ObjectID3D="WheelR1_SteerPivot" AttributeID="translation" />
<VisuPortElement PortID="visu_Rotate_WheelR1_SteerPivot" ObjectID3D="WheelR1_SteerPivot" AttributeID="rotation_rpy" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="JointActuator" ActuatorName="JointActuator" EnableActuator="false" ShowInAnimationList="false" ID="Joint_IUSETXLVKQ" DisplayName="WheelR1">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_Translate_WheelR1" ObjectID3D="WheelR1" AttributeID="translation" />
<VisuPortElement PortID="visu_Rotate_WheelR1" ObjectID3D="WheelR1" AttributeID="rotation_rpy" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="LightActuator" ActuatorName="LightActuator_0_BrakeLightRL" EnableActuator="false" ShowInAnimationList="false" ID="Light_HPDXLOBEDM" DisplayName="Brake light left">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_DynLight_0_Int" ObjectID3D="" AttributeID="intensity" />
<VisuPortElement PortID="visu_DynLight_0_Trans" ObjectID3D="BrakeLightL_pivot" AttributeID="translation" />
<VisuPortElement PortID="visu_DynLight_0_Rot" ObjectID3D="BrakeLightL_pivot" AttributeID="lightrotation" />
<VisuPortElement PortID="visu_DynLight_0_Color" ObjectID3D="" AttributeID="lightcolors" />
<VisuPortElement PortID="visu_GenericLight_0" ObjectID3D="BrakeLightRL" AttributeID="colors" />
<VisuPortElement PortID="visu_DynLight_0_ICM" ObjectID3D="" AttributeID="projectedimage" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="LightActuator" ActuatorName="LightActuator_1_BrakeLightRR" EnableActuator="false" ShowInAnimationList="false" ID="Light_GITTGAYWZY" DisplayName="Brake light right">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_DynLight_1_Int" ObjectID3D="" AttributeID="intensity" />
<VisuPortElement PortID="visu_DynLight_1_Trans" ObjectID3D="BrakeLightR_pivot" AttributeID="translation" />
<VisuPortElement PortID="visu_DynLight_1_Rot" ObjectID3D="BrakeLightR_pivot" AttributeID="lightrotation" />
<VisuPortElement PortID="visu_DynLight_1_Color" ObjectID3D="" AttributeID="lightcolors" />
<VisuPortElement PortID="visu_GenericLight_1" ObjectID3D="BrakeLightRR" AttributeID="colors" />
<VisuPortElement PortID="visu_DynLight_1_ICM" ObjectID3D="" AttributeID="projectedimage" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="LightActuator" ActuatorName="LightActuator_2_FogLightFL" EnableActuator="false" ShowInAnimationList="false" ID="Light_SNDTATAOKS" DisplayName="Fog light front left">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_DynLight_2_Int" ObjectID3D="" AttributeID="intensity" />
<VisuPortElement PortID="visu_DynLight_2_Trans" ObjectID3D="FogLightFL_pivot" AttributeID="translation" />
<VisuPortElement PortID="visu_DynLight_2_Rot" ObjectID3D="FogLightFL_pivot" AttributeID="lightrotation" />
<VisuPortElement PortID="visu_DynLight_2_Color" ObjectID3D="" AttributeID="lightcolors" />
<VisuPortElement PortID="visu_GenericLight_2" ObjectID3D="FogLightFL" AttributeID="colors" />
<VisuPortElement PortID="visu_DynLight_2_ICM" ObjectID3D="" AttributeID="projectedimage" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="LightActuator" ActuatorName="LightActuator_3_FogLightFR" EnableActuator="false" ShowInAnimationList="false" ID="Light_XAXAKXUSWE" DisplayName="Fog light front right">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_DynLight_3_Int" ObjectID3D="" AttributeID="intensity" />
<VisuPortElement PortID="visu_DynLight_3_Trans" ObjectID3D="FogLightFR_pivot" AttributeID="translation" />
<VisuPortElement PortID="visu_DynLight_3_Rot" ObjectID3D="FogLightFR_pivot" AttributeID="lightrotation" />
<VisuPortElement PortID="visu_DynLight_3_Color" ObjectID3D="" AttributeID="lightcolors" />
<VisuPortElement PortID="visu_GenericLight_3" ObjectID3D="FogLightFR" AttributeID="colors" />
<VisuPortElement PortID="visu_DynLight_3_ICM" ObjectID3D="" AttributeID="projectedimage" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="LightActuator" ActuatorName="LightActuator_4_FogLightRL" EnableActuator="false" ShowInAnimationList="false" ID="Light_HJYILGBOOV" DisplayName="Fog light rear left">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_DynLight_4_Int" ObjectID3D="" AttributeID="intensity" />
<VisuPortElement PortID="visu_DynLight_4_Trans" ObjectID3D="FogLightRL_pivot" AttributeID="translation" />
<VisuPortElement PortID="visu_DynLight_4_Rot" ObjectID3D="FogLightRL_pivot" AttributeID="lightrotation" />
<VisuPortElement PortID="visu_DynLight_4_Color" ObjectID3D="" AttributeID="lightcolors" />
<VisuPortElement PortID="visu_GenericLight_4" ObjectID3D="FogLightRL" AttributeID="colors" />
<VisuPortElement PortID="visu_DynLight_4_ICM" ObjectID3D="" AttributeID="projectedimage" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="LightActuator" ActuatorName="LightActuator_5_FogLightRR" EnableActuator="false" ShowInAnimationList="false" ID="Light_PDNDEBATNJ" DisplayName="Fog light rear right">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_DynLight_5_Int" ObjectID3D="" AttributeID="intensity" />
<VisuPortElement PortID="visu_DynLight_5_Trans" ObjectID3D="FogLightRR_pivot" AttributeID="translation" />
<VisuPortElement PortID="visu_DynLight_5_Rot" ObjectID3D="FogLightRR_pivot" AttributeID="lightrotation" />
<VisuPortElement PortID="visu_DynLight_5_Color" ObjectID3D="" AttributeID="lightcolors" />
<VisuPortElement PortID="visu_GenericLight_5" ObjectID3D="FogLightRR" AttributeID="colors" />
<VisuPortElement PortID="visu_DynLight_5_ICM" ObjectID3D="" AttributeID="projectedimage" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="LightActuator" ActuatorName="LightActuator_6_IndicatorFL" EnableActuator="false" ShowInAnimationList="false" ID="Light_FNHWIVHWPW" DisplayName="Indicator front left">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_DynLight_6_Int" ObjectID3D="" AttributeID="intensity" />
<VisuPortElement PortID="visu_DynLight_6_Trans" ObjectID3D="IndicatorFL_pivot" AttributeID="translation" />
<VisuPortElement PortID="visu_DynLight_6_Rot" ObjectID3D="IndicatorFL_pivot" AttributeID="lightrotation" />
<VisuPortElement PortID="visu_DynLight_6_Color" ObjectID3D="" AttributeID="lightcolors" />
<VisuPortElement PortID="visu_GenericLight_6" ObjectID3D="IndicatorFL" AttributeID="colors" />
<VisuPortElement PortID="visu_DynLight_6_ICM" ObjectID3D="" AttributeID="projectedimage" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="LightActuator" ActuatorName="LightActuator_7_IndicatorRL" EnableActuator="false" ShowInAnimationList="false" ID="Light_CHXPFGJIHR" DisplayName="Indicator rear left">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_DynLight_7_Int" ObjectID3D="" AttributeID="intensity" />
<VisuPortElement PortID="visu_DynLight_7_Trans" ObjectID3D="IndicatorRL_pivot" AttributeID="translation" />
<VisuPortElement PortID="visu_DynLight_7_Rot" ObjectID3D="IndicatorRL_pivot" AttributeID="lightrotation" />
<VisuPortElement PortID="visu_DynLight_7_Color" ObjectID3D="" AttributeID="lightcolors" />
<VisuPortElement PortID="visu_GenericLight_7" ObjectID3D="IndicatorRL" AttributeID="colors" />
<VisuPortElement PortID="visu_DynLight_7_ICM" ObjectID3D="" AttributeID="projectedimage" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="LightActuator" ActuatorName="LightActuator_8_IndicatorFR" EnableActuator="false" ShowInAnimationList="false" ID="Light_VEJNAMFNAV" DisplayName="Indicator front right">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_DynLight_8_Int" ObjectID3D="" AttributeID="intensity" />
<VisuPortElement PortID="visu_DynLight_8_Trans" ObjectID3D="IndicatorFR_pivot" AttributeID="translation" />
<VisuPortElement PortID="visu_DynLight_8_Rot" ObjectID3D="IndicatorFR_pivot" AttributeID="lightrotation" />
<VisuPortElement PortID="visu_DynLight_8_Color" ObjectID3D="" AttributeID="lightcolors" />
<VisuPortElement PortID="visu_GenericLight_8" ObjectID3D="IndicatorFR" AttributeID="colors" />
<VisuPortElement PortID="visu_DynLight_8_ICM" ObjectID3D="" AttributeID="projectedimage" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="LightActuator" ActuatorName="LightActuator_9_IndicatorRR" EnableActuator="false" ShowInAnimationList="false" ID="Light_TSMZHGJAZH" DisplayName="Indicator rear right">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_DynLight_9_Int" ObjectID3D="" AttributeID="intensity" />
<VisuPortElement PortID="visu_DynLight_9_Trans" ObjectID3D="IndicatorRR_pivot" AttributeID="translation" />
<VisuPortElement PortID="visu_DynLight_9_Rot" ObjectID3D="IndicatorRR_pivot" AttributeID="lightrotation" />
<VisuPortElement PortID="visu_DynLight_9_Color" ObjectID3D="" AttributeID="lightcolors" />
<VisuPortElement PortID="visu_GenericLight_9" ObjectID3D="IndicatorRR" AttributeID="colors" />
<VisuPortElement PortID="visu_DynLight_9_ICM" ObjectID3D="" AttributeID="projectedimage" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="LightActuator" ActuatorName="LightActuator_10_MainLightFL_HB" EnableActuator="false" ShowInAnimationList="false" ID="Light_JLHTBJFGGB" DisplayName="Headlight HB left">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_DynLight_10_Int" ObjectID3D="" AttributeID="intensity" />
<VisuPortElement PortID="visu_DynLight_10_Trans" ObjectID3D="MainLightFL_HB_pivot" AttributeID="translation" />
<VisuPortElement PortID="visu_DynLight_10_Rot" ObjectID3D="MainLightFL_HB_pivot" AttributeID="lightrotation" />
<VisuPortElement PortID="visu_DynLight_10_Color" ObjectID3D="" AttributeID="lightcolors" />
<VisuPortElement PortID="visu_GenericLight_10" ObjectID3D="MainLightFL_HB" AttributeID="colors" />
<VisuPortElement PortID="visu_DynLight_10_ICM" ObjectID3D="" AttributeID="projectedimage" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="LightActuator" ActuatorName="LightActuator_11_MainLightFR_HB" EnableActuator="false" ShowInAnimationList="false" ID="Light_ZBJBWOUONP" DisplayName="Headlight HB right">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_DynLight_11_Int" ObjectID3D="" AttributeID="intensity" />
<VisuPortElement PortID="visu_DynLight_11_Trans" ObjectID3D="MainLightFR_HB_pivot" AttributeID="translation" />
<VisuPortElement PortID="visu_DynLight_11_Rot" ObjectID3D="MainLightFR_HB_pivot" AttributeID="lightrotation" />
<VisuPortElement PortID="visu_DynLight_11_Color" ObjectID3D="" AttributeID="lightcolors" />
<VisuPortElement PortID="visu_GenericLight_11" ObjectID3D="MainLightFR_HB" AttributeID="colors" />
<VisuPortElement PortID="visu_DynLight_11_ICM" ObjectID3D="" AttributeID="projectedimage" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="LightActuator" ActuatorName="LightActuator_12_MainLightFL_LB" EnableActuator="false" ShowInAnimationList="false" ID="Light_KVQUEXJLUA" DisplayName="Headlight LB left">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_DynLight_12_Int" ObjectID3D="" AttributeID="intensity" />
<VisuPortElement PortID="visu_DynLight_12_Trans" ObjectID3D="MainLightFL_LB_pivot" AttributeID="translation" />
<VisuPortElement PortID="visu_DynLight_12_Rot" ObjectID3D="MainLightFL_LB_pivot" AttributeID="lightrotation" />
<VisuPortElement PortID="visu_DynLight_12_Color" ObjectID3D="" AttributeID="lightcolors" />
<VisuPortElement PortID="visu_GenericLight_12" ObjectID3D="MainLightFL_LB" AttributeID="colors" />
<VisuPortElement PortID="visu_DynLight_12_ICM" ObjectID3D="" AttributeID="projectedimage" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="LightActuator" ActuatorName="LightActuator_13_MainLightFR_LB" EnableActuator="false" ShowInAnimationList="false" ID="Light_TXTOLEZZWD" DisplayName="Headlight LB right">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_DynLight_13_Int" ObjectID3D="" AttributeID="intensity" />
<VisuPortElement PortID="visu_DynLight_13_Trans" ObjectID3D="MainLightFR_LB_pivot" AttributeID="translation" />
<VisuPortElement PortID="visu_DynLight_13_Rot" ObjectID3D="MainLightFR_LB_pivot" AttributeID="lightrotation" />
<VisuPortElement PortID="visu_DynLight_13_Color" ObjectID3D="" AttributeID="lightcolors" />
<VisuPortElement PortID="visu_GenericLight_13" ObjectID3D="MainLightFR_LB" AttributeID="colors" />
<VisuPortElement PortID="visu_DynLight_13_ICM" ObjectID3D="" AttributeID="projectedimage" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="LightActuator" ActuatorName="LightActuator_14_MainLightRL" EnableActuator="false" ShowInAnimationList="false" ID="Light_BOIQNGFTPX" DisplayName="Rear light left">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_DynLight_14_Int" ObjectID3D="" AttributeID="intensity" />
<VisuPortElement PortID="visu_DynLight_14_Trans" ObjectID3D="MainLightRL_pivot" AttributeID="translation" />
<VisuPortElement PortID="visu_DynLight_14_Rot" ObjectID3D="MainLightRL_pivot" AttributeID="lightrotation" />
<VisuPortElement PortID="visu_DynLight_14_Color" ObjectID3D="" AttributeID="lightcolors" />
<VisuPortElement PortID="visu_GenericLight_14" ObjectID3D="MainLightRL" AttributeID="colors" />
<VisuPortElement PortID="visu_DynLight_14_ICM" ObjectID3D="" AttributeID="projectedimage" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="LightActuator" ActuatorName="LightActuator_15_MainLightRR" EnableActuator="false" ShowInAnimationList="false" ID="Light_DKSHGAGNXD" DisplayName="Rear light right">
<LightMeshPositions />
<VisuPortElements>
<VisuPortElement PortID="visu_DynLight_15_Int" ObjectID3D="" AttributeID="intensity" />
<VisuPortElement PortID="visu_DynLight_15_Trans" ObjectID3D="MainLightRR_pivot" AttributeID="translation" />
<VisuPortElement PortID="visu_DynLight_15_Rot" ObjectID3D="MainLightRR_pivot" AttributeID="lightrotation" />
<VisuPortElement PortID="visu_DynLight_15_Color" ObjectID3D="" AttributeID="lightcolors" />
<VisuPortElement PortID="visu_GenericLight_15" ObjectID3D="MainLightRR" AttributeID="colors" />
<VisuPortElement PortID="visu_DynLight_15_ICM" ObjectID3D="" AttributeID="projectedimage" />
</VisuPortElements>
</VisualizationActuator>
<VisualizationActuator xsi:type="ColorRegionActuator" ActuatorName="ColorRegionActuator" EnableActuator="false" ShowInAnimationList="false" ID="Recolor_Exterior" RegionName="Exterior" TargetColor="00605CA9">
<LightMeshPositions />
<VisuPortElements />
</VisualizationActuator>
<VisualizationActuator xsi:type="GhostingActuator" ActuatorName="VisuGhostColor" EnableActuator="false" ShowInAnimationList="false" ID="Actuator_Ghosting" GhostColor="64646464">
<LightMeshPositions />
<VisuPortElements />
</VisualizationActuator>
<VisualizationActuator xsi:type="WheelDisplacementGroup" ActuatorName="JointGroup" EnableActuator="false" ShowInAnimationList="true" ID="JointGroup_WheelDisplacement" DisplayName="WheelDisplacement">
<LightMeshPositions />
<VisuPortElements />
<JointGroupInputs ID="GroupInput_XVIEOJBBRB" DisplayName="Steering Angle Front">
<JointGroupLinks JointID="Joint_UQQPPOAVFX" AxisID="Axis_NUMELQFOLU" />
<JointGroupLinks JointID="Joint_PAEQXBQJKB" AxisID="Axis_OUCRAXXDXA" />
</JointGroupInputs>
<JointGroupInputs ID="GroupInput_CQIVLMNSRH" DisplayName="Steering Angle Rear">
<JointGroupLinks JointID="Joint_IUSETXLVKQ" AxisID="Axis_ZSKPZVAGGL" />
<JointGroupLinks JointID="Joint_CAZNURXTPZ" AxisID="Axis_YDQJRARHTJ" />
</JointGroupInputs>
<JointGroupInputs ID="GroupInput_SVKUTTLIZW" DisplayName="Rotation">
<JointGroupLinks JointID="Joint_UQQPPOAVFX" AxisID="Axis_YYGXXJTTNM" />
<JointGroupLinks JointID="Joint_PAEQXBQJKB" AxisID="Axis_JZJKKBGXCZ" />
<JointGroupLinks JointID="Joint_IUSETXLVKQ" AxisID="Axis_FDONNQIWLE" />
<JointGroupLinks JointID="Joint_CAZNURXTPZ" AxisID="Axis_AHHQFSQDLK" />
</JointGroupInputs>
<JointGroupInputs ID="GroupInput_OIVCNAVFXL" DisplayName="zDisp FL">
<JointGroupLinks JointID="Joint_PAEQXBQJKB" AxisID="Axis_BPYWBJFEUK" />
</JointGroupInputs>
<JointGroupInputs ID="GroupInput_OMXXCQBJOW" DisplayName="zDisp FR">
<JointGroupLinks JointID="Joint_UQQPPOAVFX" AxisID="Axis_PYOTLPPVUM" />
</JointGroupInputs>
<JointGroupInputs ID="GroupInput_QTVKZXAJHR" DisplayName="zDisp RL">
<JointGroupLinks JointID="Joint_CAZNURXTPZ" AxisID="Axis_SAFZWRILCP" />
</JointGroupInputs>
<JointGroupInputs ID="GroupInput_SIEIVWMKVT" DisplayName="zDisp RR">
<JointGroupLinks JointID="Joint_IUSETXLVKQ" AxisID="Axis_BOWQOOGLJD" />
</JointGroupInputs>
</VisualizationActuator>
</VisualizationActuators>
</ObjectSimulatorInfo>
<DriverModel DriverModelType="None">
<PathFollowerSettings WithPreview="false" PreviewTime="1" DelayTime="0.1" LowSpeedLimit="20" MaxSteeringRate="1200" FrequencyFactor="1" />
<GameControllerSettings EnableForceFeedback="true" GameControllerType="LogitechG29" ShiftStrategyType="Automatic" />
</DriverModel>
<Dynamics>
<SpecifiedDynamics SourceModelFile="..\test_planning\Extensions\Simulink\CarSim_VehicleDynamics.mdl" SourceModelType="" />
</Dynamics>
<Physics Drag="0.27000001072883606" Mass="1820" MaxAcceleration="0.300000011920929" MaxDeceleration="1" ReferenceArea="2.33256411552429" RollFriction="0.00999999977648258" />
<Sensors>
<Sensor xsi:type="AIRSensor" Description="" id="AIR_1" UniqueId="315" PreventDragging="true" CurrentAttachmentPoint="Actor" Visualize="false" VisualizedAlpha="25" BeamColor="Green (FF008000)" FovAzimuth="360" FovElevation="360" EntitiesOut="32" DetectionType="CoG" BeamLength="50">
<Location X="3.94000005722046" Y="0" Z="0.370000004768372" />
<Orientation Bank="0" Tilt="0" Heading="0" />
<Origin X="0" Y="1" Z="0" />
<Size X="4.2608499526977539" Y="1.6562497615814209" Z="0.10000000149011612" />
<CoGOffset X="0" Y="0" Z="0" />
<TestAutomationVariables>
<TestAutomationVariable VariableName="Location" VariableState="false" />
<TestAutomationVariable VariableName="Orientation" VariableState="false" />
<TestAutomationVariable VariableName="Range" VariableState="false" />
<TestAutomationVariable VariableName="SweepAngle" VariableState="false" />
<TestAutomationVariable VariableName="DetectionType" VariableState="false" />
</TestAutomationVariables>
</Sensor>
</Sensors>
<ConnectionPoints>
<ConnectionPoint>
<Name>Towbar</Name>
<Point X="-1.2599999904632568" Y="0" Z="0.44999998807907104" />
</ConnectionPoint>
</ConnectionPoints>
<Trajectories />
<Cameras>
<Camera xsi:type="HumanView" Description="" id="HumanView_1" UniqueId="37" PreventDragging="true" CurrentAttachmentPoint="Actor" NearDistance="0.1" FarDistance="750" HorizontalAngle="120" VerticalAngle="90" BeamColor="Blue (FF0000FF)" OutputCameraImage="false">
<Location X="-4" Y="0" Z="3" />
<Orientation Bank="0" Tilt="0" Heading="0" />
<Origin X="0.5" Y="0.5" Z="0" />
<Size X="0.19999999999999996" Y="0.30000000000000004" Z="0" />
<CoGOffset X="0" Y="0" Z="0" />
<Position>Custom</Position>
</Camera>
</Cameras>
<UserSpecDyn Jxx="210" Jyy="3278" M="1820" Jzz="3746" Krear="121449" Kfront="72653" SteeringRatio="25" MaxSwa="500" L="2.94" A="1.17000008" />
<RecolorRegions>
<RecolorRegion Name="Exterior" ChannelIndex="0" IntensityMultiplier="5.7954" />
</RecolorRegions>
<SimpleTDConfiguration>
<StiffnessRearXValues>
<X>-0.059999998658895493</X>
<X>-0.057999998331069946</X>
<X>-0.05299999937415123</X>
<X>-0.0430000014603138</X>
<X>0</X>
<X>0.0430000014603138</X>
<X>0.05299999937415123</X>
<X>0.057999998331069946</X>
<X>0.059000000357627869</X>
</StiffnessRearXValues>
<StiffnessRearYValues>
<Y>-28735</Y>
<Y>-11795</Y>
<Y>-8560</Y>
<Y>-6860</Y>
<Y>-4385</Y>
<Y>-1855</Y>
<Y>-155</Y>
<Y>3080</Y>
<Y>9965</Y>
</StiffnessRearYValues>
<StiffnessFrontXValues>
<X>-0.059999998658895493</X>
<X>-0.057999998331069946</X>
<X>-0.05299999937415123</X>
<X>-0.0430000014603138</X>
<X>0</X>
<X>0.0430000014603138</X>
<X>0.05299999937415123</X>
<X>0.059000000357627869</X>
<X>0.059999998658895493</X>
</StiffnessFrontXValues>
<StiffnessFrontYValues>
<Y>-29425</Y>
<Y>-13500</Y>
<Y>-10230</Y>
<Y>-8450</Y>
<Y>-5654.93017578125</Y>
<Y>-2890</Y>
<Y>-1050</Y>
<Y>2330</Y>
<Y>8115.10009765625</Y>
</StiffnessFrontYValues>
<DampingFrontXValues>
<X>-1</X>
<X>-0.5</X>
<X>-0.40000000596046448</X>
<X>-0.25</X>
<X>-0.15000000596046448</X>
<X>-0.05000000074505806</X>
<X>0</X>
<X>0.05000000074505806</X>
<X>0.15000000596046448</X>
<X>0.25</X>
<X>0.40000000596046448</X>
<X>0.5</X>
<X>1</X>
</DampingFrontXValues>
<DampingFrontYValues>
<Y>-1680</Y>
<Y>-1002</Y>
<Y>-846</Y>
<Y>-684</Y>
<Y>-372</Y>
<Y>-154</Y>
<Y>0</Y>
<Y>676</Y>
<Y>2022</Y>
<Y>2994</Y>
<Y>3390</Y>
<Y>3732</Y>
<Y>5148</Y>
</DampingFrontYValues>
<DampingRearXValues>
<X>-1</X>
<X>-0.5</X>
<X>-0.40000000596046448</X>
<X>-0.25</X>
<X>-0.15000000596046448</X>
<X>-0.05000000074505806</X>
<X>0</X>
<X>0.05000000074505806</X>
<X>0.15000000596046448</X>
<X>0.25</X>
<X>0.40000000596046448</X>
<X>0.5</X>
<X>1</X>
</DampingRearXValues>
<DampingRearYValues>
<Y>-1680</Y>
<Y>-1002</Y>
<Y>-846</Y>
<Y>-684</Y>
<Y>-372</Y>
<Y>-154</Y>
<Y>0</Y>
<Y>676</Y>
<Y>2022</Y>
<Y>2994</Y>
<Y>3390</Y>
<Y>3732</Y>
<Y>5148</Y>
</DampingRearYValues>
<RadialStiffNess>500000</RadialStiffNess>
<RadialDamping>300</RadialDamping>
</SimpleTDConfiguration>
<AttachmentPointIds />
<AttachmentPoints />
<DefaultSensorPositions>
<item>
<key>
<SensorHolderPosition>DefaultCameraSensorPosition</SensorHolderPosition>
</key>
<value>
<DefaultLocation>
<Position X="2" Y="0" Z="1.3200000524520874" />
</DefaultLocation>
</value>
</item>
<item>
<key>
<SensorHolderPosition>DefaultAIRSensorPosition</SensorHolderPosition>
</key>
<value>
<DefaultLocation>
<Position X="3.940000057220459" Y="0" Z="0.37000000476837158" />
</DefaultLocation>
</value>
</item>
<item>
<key>
<SensorHolderPosition>DefaultTISSensorPosition</SensorHolderPosition>
</key>
<value>
<DefaultLocation>
<Position X="3.940000057220459" Y="0" Z="0.37000000476837158" />
</DefaultLocation>
</value>
</item>
<item>
<key>
<SensorHolderPosition>DefaultIROBUSensorPosition</SensorHolderPosition>
</key>
<value>
<DefaultLocation>
<Position X="2.6099998950958252" Y="0" Z="1.0099999904632568" />
</DefaultLocation>
</value>
</item>
<item>
<key>
<SensorHolderPosition>DefaultBeaconSensorPosition</SensorHolderPosition>
</key>
<value>
<DefaultLocation>
<Position X="3.940000057220459" Y="0" Z="0.37000000476837158" />
</DefaultLocation>
</value>
</item>
<item>
<key>
<SensorHolderPosition>DefaultAntennaPosition</SensorHolderPosition>
</key>
<value>
<DefaultLocation>
<Position X="0.5" Y="0" Z="1.5" />
</DefaultLocation>
</value>
</item>
<item>
<key>
<SensorHolderPosition>DefaultFishEyePosition</SensorHolderPosition>
</key>
<value>
<DefaultLocation>
<Position X="3.940000057220459" Y="0" Z="0.37000000476837158" />
</DefaultLocation>
</value>
</item>
</DefaultSensorPositions>
<DefaultVisuAidPositions>
<item>
<key>
<VisuAidHolderPosition>DriverLeft</VisuAidHolderPosition>
</key>
<value>
<DefaultLocation>
<Position X="1.5" Y="0.40999999642372131" Z="1.1000000238418579" />
</DefaultLocation>
</value>
</item>
<item>
<key>
<VisuAidHolderPosition>DriverRight</VisuAidHolderPosition>
</key>
<value>
<DefaultLocation>
<Position X="1.5" Y="-0.40999999642372131" Z="1.1000000238418579" />
</DefaultLocation>
</value>
</item>
<item>
<key>
<VisuAidHolderPosition>Custom</VisuAidHolderPosition>
</key>
<value>
<DefaultLocation>
<Position X="1.5" Y="0" Z="1.1000000238418579" />
</DefaultLocation>
</value>
</item>
</DefaultVisuAidPositions>
<Animation />
<LightElements>
<LightElement xsi:type="GenericLightElement" AmbientRGBAColor="FFFF0000" BottomAngle="-55" ColorTemperature="2000" DefaultIntFallOffMap="BrakeLight.png" Intensity="67" IsActive="true" IsProjective="true" IsOn="false" LeftAngle="-55" LightID="0" LightPosition="GenericLight" MSCDIntensity="0.10" Name="Brake light left" RightAngle="55" TopAngle="55" UsesMSCDIntensity="false" UsesRGBColorTemp="true" VisuActuatorName="LightActuator_0_BrakeLightRL" MeshName="BrakeLightRL" MeshColor="FFFF0000" PivotName="BrakeLightL_pivot">
<Defaults LeftAngle="-55" RightAngle="55" TopAngle="55" BottomAngle="-55" UsesRGBColorTemp="true" ColorTemperature="4500" AmbientRGBAColor="FFFF0000" UsesMSCDIntensity="false" MSCDIntensity="12" Intensity="67" />
<Location X="-0.98299998044967651" Y="0.46200001239776611" Z="0.93000000715255737" />
<ReferenceLocation X="-0.98299998044967651" Y="0.46200001239776611" Z="0.93000000715255737" />
<Origin X="0" Y="0" Z="0" />
<Orientation Bank="0" Tilt="7.0164775638926606E-15" Heading="180" />
<ReferenceOrientation Bank="0" Tilt="7.0164775638926606E-15" Heading="180" />
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<Y>82</Y>
</RearTyreCentre>
<FrontTyreCentre>
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<Y>82</Y>
</FrontTyreCentre>
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<PhysicsOnly>false</PhysicsOnly>
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<UpShiftStrategies>