<?xml version='1.0' encoding='UTF-8'?>
<OpenSCENARIO>
  <FileHeader revMajor="1" revMinor="0" date="2020-06-26T00:17:00" description="openPASS vehicle models" author="in-tech GmbH"/>
  <Catalog name="VehicleCatalog">
    <Vehicle model3d="car_bmw_i3" mass="1320.0" name="car_bmw_i3" vehicleCategory="car">
      <Properties>
        <Property name="AirDragCoefficient" value="0.3"/>
        <Property name="AxleRatio" value="1.0"/>
        <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
        <Property name="FrictionCoefficient" value="1.0"/>
        <Property name="FrontSurface" value="2.38"/>
        <Property name="GearRatio1" value="9.665"/>
        <Property name="MaximumEngineSpeed" value="6000.0"/>
        <Property name="MaximumEngineTorque" value="250.0"/>
        <Property name="MinimumEngineSpeed" value="900.0"/>
        <Property name="MinimumEngineTorque" value="-54.0"/>
        <Property name="MomentInertiaPitch" value="0.0"/>
        <Property name="MomentInertiaRoll" value="0.0"/>
        <Property name="MomentInertiaYaw" value="0.0"/>
        <Property name="NumberOfGears" value="1"/>
        <Property name="SensorPosition/FrontCenter/Height" value="0.66"/>
        <Property name="SensorPosition/FrontCenter/Lateral" value="0.0"/>
        <Property name="SensorPosition/FrontCenter/Longitudinal" value="3.26"/>
        <Property name="SensorPosition/FrontCenter/Pitch" value="0.0"/>
        <Property name="SensorPosition/FrontCenter/Roll" value="0.0"/>
        <Property name="SensorPosition/FrontCenter/Yaw" value="0.0"/>
        <Property name="SensorPosition/FrontLeft/Height" value="0.82"/>
        <Property name="SensorPosition/FrontLeft/Lateral" value="0.68"/>
        <Property name="SensorPosition/FrontLeft/Longitudinal" value="2.98"/>
        <Property name="SensorPosition/FrontLeft/Pitch" value="0.0"/>
        <Property name="SensorPosition/FrontLeft/Roll" value="0.0"/>
        <Property name="SensorPosition/FrontLeft/Yaw" value="1.134464"/>
        <Property name="SensorPosition/FrontRight/Height" value="0.82"/>
        <Property name="SensorPosition/FrontRight/Lateral" value="-0.68"/>
        <Property name="SensorPosition/FrontRight/Longitudinal" value="2.98"/>
        <Property name="SensorPosition/FrontRight/Pitch" value="0.0"/>
        <Property name="SensorPosition/FrontRight/Roll" value="0.0"/>
        <Property name="SensorPosition/FrontRight/Yaw" value="-1.134464"/>
        <Property name="SensorPosition/FrontWindow/Height" value="1.45"/>
        <Property name="SensorPosition/FrontWindow/Lateral" value="0.0"/>
        <Property name="SensorPosition/FrontWindow/Longitudinal" value="1.9"/>
        <Property name="SensorPosition/FrontWindow/Pitch" value="0.0"/>
        <Property name="SensorPosition/FrontWindow/Roll" value="0.0"/>
        <Property name="SensorPosition/FrontWindow/Yaw" value="0.0"/>
        <Property name="SensorPosition/RearLeft/Height" value="0.64"/>
        <Property name="SensorPosition/RearLeft/Lateral" value="0.64"/>
        <Property name="SensorPosition/RearLeft/Longitudinal" value="-0.49"/>
        <Property name="SensorPosition/RearLeft/Pitch" value="0.0"/>
        <Property name="SensorPosition/RearLeft/Roll" value="0.0"/>
        <Property name="SensorPosition/RearLeft/Yaw" value="2.146755"/>
        <Property name="SensorPosition/RearRight/Height" value="0.64"/>
        <Property name="SensorPosition/RearRight/Lateral" value="-0.64"/>
        <Property name="SensorPosition/RearRight/Longitudinal" value="-0.49"/>
        <Property name="SensorPosition/RearRight/Pitch" value="0.0"/>
        <Property name="SensorPosition/RearRight/Roll" value="0.0"/>
        <Property name="SensorPosition/RearRight/Yaw" value="-2.146755"/>
        <Property name="SensorPosition/RearWindow/Height" value="1.39"/>
        <Property name="SensorPosition/RearWindow/Lateral" value="0.0"/>
        <Property name="SensorPosition/RearWindow/Longitudinal" value="-0.21"/>
        <Property name="SensorPosition/RearWindow/Pitch" value="0.0"/>
        <Property name="SensorPosition/RearWindow/Roll" value="0.0"/>
        <Property name="SensorPosition/RearWindow/Yaw" value="3.141592"/>
        <Property name="SensorPosition/SideLeft/Height" value="0.3"/>
        <Property name="SensorPosition/SideLeft/Lateral" value="0.8"/>
        <Property name="SensorPosition/SideLeft/Longitudinal" value="1.2"/>
        <Property name="SensorPosition/SideLeft/Pitch" value="0.0"/>
        <Property name="SensorPosition/SideLeft/Roll" value="0.0"/>
        <Property name="SensorPosition/SideLeft/Yaw" value="1.570796"/>
        <Property name="SensorPosition/SideRight/Height" value="0.3"/>
        <Property name="SensorPosition/SideRight/Lateral" value="-0.8"/>
        <Property name="SensorPosition/SideRight/Longitudinal" value="1.2"/>
        <Property name="SensorPosition/SideRight/Pitch" value="0.0"/>
        <Property name="SensorPosition/SideRight/Roll" value="0.0"/>
        <Property name="SensorPosition/SideRight/Yaw" value="-1.570796"/>
        <Property name="SteeringRatio" value="10.7"/>
      </Properties>
      <BoundingBox>
        <Center x="1.25" y="0.0" z="0.84"/>
        <Dimensions width="2.04" length="3.96" height="1.68"/>
      </BoundingBox>
      <Performance maxSpeed="41.67" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
      <Axles>
        <FrontAxle maxSteering="0.5282" wheelDiameter="0.682" trackWidth="1.8" positionX="2.52" positionZ="0.341"/>
        <RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/>
      </Axles>
    </Vehicle>
    <Vehicle model3d="car_bmw_3" mass="1525.0" name="car_bmw_3" vehicleCategory="car">
      <Properties>
        <Property name="AirDragCoefficient" value="0.3"/>
        <Property name="AxleRatio" value="2.813"/>
        <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
        <Property name="FrictionCoefficient" value="1.0"/>
        <Property name="FrontSurface" value="2.2"/>
        <Property name="GearRatio1" value="5.0"/>
        <Property name="GearRatio2" value="3.2"/>
        <Property name="GearRatio3" value="2.143"/>
        <Property name="GearRatio4" value="1.72"/>
        <Property name="GearRatio5" value="1.314"/>
        <Property name="GearRatio6" value="1.0"/>
        <Property name="GearRatio7" value="0.822"/>
        <Property name="GearRatio8" value="0.64"/>
        <Property name="MaximumEngineSpeed" value="6000.0"/>
        <Property name="MaximumEngineTorque" value="270.0"/>
        <Property name="MinimumEngineSpeed" value="900.0"/>
        <Property name="MinimumEngineTorque" value="-54.0"/>
        <Property name="MomentInertiaPitch" value="0.0"/>
        <Property name="MomentInertiaRoll" value="0.0"/>
        <Property name="MomentInertiaYaw" value="0.0"/>
        <Property name="NumberOfGears" value="8"/>
        <Property name="SensorPosition/FrontCenter/Height" value="0.56"/>
        <Property name="SensorPosition/FrontCenter/Lateral" value="0.0"/>
        <Property name="SensorPosition/FrontCenter/Longitudinal" value="3.71"/>
        <Property name="SensorPosition/FrontCenter/Pitch" value="0.0"/>
        <Property name="SensorPosition/FrontCenter/Roll" value="0.0"/>
        <Property name="SensorPosition/FrontCenter/Yaw" value="0.0"/>
        <Property name="SensorPosition/FrontLeft/Height" value="0.68"/>
        <Property name="SensorPosition/FrontLeft/Lateral" value="0.78"/>
        <Property name="SensorPosition/FrontLeft/Longitudinal" value="3.33"/>
        <Property name="SensorPosition/FrontLeft/Pitch" value="0.0"/>
        <Property name="SensorPosition/FrontLeft/Roll" value="0.0"/>
        <Property name="SensorPosition/FrontLeft/Yaw" value="1.134464"/>
        <Property name="SensorPosition/FrontRight/Height" value="0.68"/>
        <Property name="SensorPosition/FrontRight/Lateral" value="-0.78"/>
        <Property name="SensorPosition/FrontRight/Longitudinal" value="3.33"/>
        <Property name="SensorPosition/FrontRight/Pitch" value="0.0"/>
        <Property name="SensorPosition/FrontRight/Roll" value="0.0"/>
        <Property name="SensorPosition/FrontRight/Yaw" value="-1.134464"/>
        <Property name="SensorPosition/FrontWindow/Height" value="1.27"/>
        <Property name="SensorPosition/FrontWindow/Lateral" value="0.0"/>
        <Property name="SensorPosition/FrontWindow/Longitudinal" value="1.82"/>
        <Property name="SensorPosition/FrontWindow/Pitch" value="0.0"/>
        <Property name="SensorPosition/FrontWindow/Roll" value="0.0"/>
        <Property name="SensorPosition/FrontWindow/Yaw" value="0.0"/>
        <Property name="SensorPosition/RearLeft/Height" value="0.65"/>
        <Property name="SensorPosition/RearLeft/Lateral" value="0.675"/>
        <Property name="SensorPosition/RearLeft/Longitudinal" value="-0.65"/>
        <Property name="SensorPosition/RearLeft/Pitch" value="0.0"/>
        <Property name="SensorPosition/RearLeft/Roll" value="0.0"/>
        <Property name="SensorPosition/RearLeft/Yaw" value="2.146755"/>
        <Property name="SensorPosition/RearRight/Height" value="0.65"/>
        <Property name="SensorPosition/RearRight/Lateral" value="-0.75"/>
        <Property name="SensorPosition/RearRight/Longitudinal" value="-0.65"/>
        <Property name="SensorPosition/RearRight/Pitch" value="0.0"/>
        <Property name="SensorPosition/RearRight/Roll" value="0.0"/>
        <Property name="SensorPosition/RearRight/Yaw" value="-2.146755"/>
        <Property name="SensorPosition/RearWindow/Height" value="1.31"/>
        <Property name="SensorPosition/RearWindow/Lateral" value="0.0"/>
        <Property name="SensorPosition/RearWindow/Longitudinal" value="0.16"/>
        <Property name="SensorPosition/RearWindow/Pitch" value="0.0"/>
        <Property name="SensorPosition/RearWindow/Roll" value="0.0"/>
        <Property name="SensorPosition/RearWindow/Yaw" value="3.141592"/>
        <Property name="SensorPosition/SideLeft/Height" value="0.21"/>
        <Property name="SensorPosition/SideLeft/Lateral" value="0.81"/>
        <Property name="SensorPosition/SideLeft/Longitudinal" value="1.21"/>
        <Property name="SensorPosition/SideLeft/Pitch" value="0.0"/>
        <Property name="SensorPosition/SideLeft/Roll" value="0.0"/>
        <Property name="SensorPosition/SideLeft/Yaw" value="1.570796"/>
        <Property name="SensorPosition/SideRight/Height" value="0.21"/>
        <Property name="SensorPosition/SideRight/Lateral" value="-0.81"/>
        <Property name="SensorPosition/SideRight/Longitudinal" value="1.21"/>
        <Property name="SensorPosition/SideRight/Pitch" value="0.0"/>
        <Property name="SensorPosition/SideRight/Roll" value="0.0"/>
        <Property name="SensorPosition/SideRight/Yaw" value="-1.570796"/>
        <Property name="SteeringRatio" value="10.7"/>
      </Properties>
      <BoundingBox>
        <Center x="1.285" y="0.0" z="0.72"/>
        <Dimensions width="1.96" length="4.63" height="1.44"/>
      </BoundingBox>
      <Performance maxSpeed="69.44" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
      <Axles>
        <FrontAxle maxSteering="0.5012" wheelDiameter="0.634" trackWidth="1.8" positionX="2.81" positionZ="0.317"/>
        <RearAxle maxSteering="0.0" wheelDiameter="0.634" trackWidth="1.8" positionX="0.0" positionZ="0.317"/>
      </Axles>
    </Vehicle>
    <Vehicle model3d="car_bmw_7_1" mass="1845.0" name="car_bmw_7_1" vehicleCategory="car">
      <Properties>
        <Property name="AirDragCoefficient" value="0.3"/>
        <Property name="AxleRatio" value="3.077"/>
        <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
        <Property name="FrictionCoefficient" value="1.0"/>
        <Property name="FrontSurface" value="2.42"/>
        <Property name="GearRatio1" value="5.0"/>
        <Property name="GearRatio2" value="3.2"/>
        <Property name="GearRatio3" value="2.143"/>
        <Property name="GearRatio4" value="1.72"/>
        <Property name="GearRatio5" value="1.314"/>
        <Property name="GearRatio6" value="1.0"/>
        <Property name="GearRatio7" value="0.822"/>
        <Property name="GearRatio8" value="0.64"/>
        <Property name="MaximumEngineSpeed" value="6000.0"/>
        <Property name="MaximumEngineTorque" value="450.0"/>
        <Property name="MinimumEngineSpeed" value="900.0"/>
        <Property name="MinimumEngineTorque" value="-54.0"/>
        <Property name="MaximumEnginePower" value="200000.0"/>
        <Property name="MomentInertiaPitch" value="0.0"/>
        <Property name="MomentInertiaRoll" value="0.0"/>
        <Property name="MomentInertiaYaw" value="0.0"/>
        <Property name="NumberOfGears" value="8"/>
        <Property name="SensorPosition/FrontCenter/Height" value="0.6"/>
        <Property name="SensorPosition/FrontCenter/Lateral" value="0.0"/>
        <Property name="SensorPosition/FrontCenter/Longitudinal" value="4.16"/>
        <Property name="SensorPosition/FrontCenter/Pitch" value="0.0"/>
        <Property name="SensorPosition/FrontCenter/Roll" value="0.0"/>
        <Property name="SensorPosition/FrontCenter/Yaw" value="0.0"/>
        <Property name="SensorPosition/FrontLeft/Height" value="0.77"/>
        <Property name="SensorPosition/FrontLeft/Lateral" value="0.84"/>
        <Property name="SensorPosition/FrontLeft/Longitudinal" value="3.75"/>
        <Property name="SensorPosition/FrontLeft/Pitch" value="0.0"/>
        <Property name="SensorPosition/FrontLeft/Roll" value="0.0"/>
        <Property name="SensorPosition/FrontLeft/Yaw" value="1.134464"/>
        <Property name="SensorPosition/FrontRight/Height" value="0.77"/>
        <Property name="SensorPosition/FrontRight/Lateral" value="-0.84"/>
        <Property name="SensorPosition/FrontRight/Longitudinal" value="3.75"/>
        <Property name="SensorPosition/FrontRight/Pitch" value="0.0"/>
        <Property name="SensorPosition/FrontRight/Roll" value="0.0"/>
        <Property name="SensorPosition/FrontRight/Yaw" value="-1.134464"/>
        <Property name="SensorPosition/FrontWindow/Height" value="1.36"/>
        <Property name="SensorPosition/FrontWindow/Lateral" value="0.0"/>
        <Property name="SensorPosition/FrontWindow/Longitudinal" value="2.05"/>
        <Property name="SensorPosition/FrontWindow/Pitch" value="0.0"/>
        <Property name="SensorPosition/FrontWindow/Roll" value="0.0"/>
        <Property name="SensorPosition/FrontWindow/Yaw" value="0.0"/>
        <Property name="SensorPosition/RearLeft/Height" value="0.73"/>
        <Property name="SensorPosition/RearLeft/Lateral" value="0.84"/>
        <Property name="SensorPosition/RearLeft/Longitudinal" value="-0.75"/>
        <Property name="SensorPosition/RearLeft/Pitch" value="0.0"/>
        <Property name="SensorPosition/RearLeft/Roll" value="0.0"/>
        <Property name="SensorPosition/RearLeft/Yaw" value="2.146755"/>
        <Property name="SensorPosition/RearRight/Height" value="0.73"/>
        <Property name="SensorPosition/RearRight/Lateral" value="-0.84"/>
        <Property name="SensorPosition/RearRight/Longitudinal" value="-0.475"/>
        <Property name="SensorPosition/RearRight/Pitch" value="0.0"/>
        <Property name="SensorPosition/RearRight/Roll" value="0.0"/>
        <Property name="SensorPosition/RearRight/Yaw" value="-2.146755"/>
        <Property name="SensorPosition/RearWindow/Height" value="1.41"/>
        <Property name="SensorPosition/RearWindow/Lateral" value="0.0"/>
        <Property name="SensorPosition/RearWindow/Longitudinal" value="0.26"/>
        <Property name="SensorPosition/RearWindow/Pitch" value="0.0"/>
        <Property name="SensorPosition/RearWindow/Roll" value="0.0"/>
        <Property name="SensorPosition/RearWindow/Yaw" value="3.141592"/>
        <Property name="SensorPosition/SideLeft/Height" value="0.23"/>
        <Property name="SensorPosition/SideLeft/Lateral" value="0.9"/>
        <Property name="SensorPosition/SideLeft/Longitudinal" value="1.34"/>
        <Property name="SensorPosition/SideLeft/Pitch" value="0.0"/>
        <Property name="SensorPosition/SideLeft/Roll" value="0.0"/>
        <Property name="SensorPosition/SideLeft/Yaw" value="1.570796"/>
        <Property name="SensorPosition/SideRight/Height" value="0.23"/>
        <Property name="SensorPosition/SideRight/Lateral" value="-0.9"/>
        <Property name="SensorPosition/SideRight/Longitudinal" value="1.34"/>
        <Property name="SensorPosition/SideRight/Pitch" value="0.0"/>
        <Property name="SensorPosition/SideRight/Roll" value="0.0"/>
        <Property name="SensorPosition/SideRight/Yaw" value="-1.570796"/>
        <Property name="SteeringRatio" value="10.7"/>
      </Properties>
      <BoundingBox>
        <Center x="1.46" y="0.0" z="0.755"/>
        <Dimensions width="2.18" length="5.26" height="1.51"/>
      </BoundingBox>
      <Performance maxSpeed="69.44" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
      <Axles>
        <FrontAxle maxSteering="0.5226" wheelDiameter="0.682" trackWidth="1.8" positionX="3.22" positionZ="0.341"/>
        <RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/>
      </Axles>
    </Vehicle>
    <Vehicle model3d="car_bmw_7_2" mass="1900.0" name="car_bmw_7_2" vehicleCategory="car">
      <Properties>
        <Property name="AirDragCoefficient" value="0.3"/>
        <Property name="AxleRatio" value="3.077"/>
        <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
        <Property name="FrictionCoefficient" value="1.0"/>
        <Property name="FrontSurface" value="2.42"/>
        <Property name="GearRatio1" value="4.714"/>
        <Property name="GearRatio2" value="3.143"/>
        <Property name="GearRatio3" value="2.106"/>
        <Property name="GearRatio4" value="1.667"/>
        <Property name="GearRatio5" value="1.285"/>
        <Property name="GearRatio6" value="1.0"/>
        <Property name="GearRatio7" value="0.839"/>
        <Property name="GearRatio8" value="0.667"/>
        <Property name="MaximumEngineSpeed" value="6000.0"/>
        <Property name="MaximumEngineTorque" value="450.0"/>
        <Property name="MinimumEngineSpeed" value="900.0"/>
        <Property name="MinimumEngineTorque" value="-54.0"/>
        <Property name="MaximumEnginePower" value="200000.0"/>
        <Property name="MomentInertiaPitch" value="0.0"/>
        <Property name="MomentInertiaRoll" value="0.0"/>
        <Property name="MomentInertiaYaw" value="1300.0"/>
        <Property name="NumberOfGears" value="8"/>
        <Property name="SensorPosition/FrontCenter/Height" value="0.55"/>
        <Property name="SensorPosition/FrontCenter/Lateral" value="0.0"/>
        <Property name="SensorPosition/FrontCenter/Longitudinal" value="4.2"/>
        <Property name="SensorPosition/FrontCenter/Pitch" value="0.0"/>
        <Property name="SensorPosition/FrontCenter/Roll" value="0.0"/>
        <Property name="SensorPosition/FrontCenter/Yaw" value="0.0"/>
        <Property name="SensorPosition/FrontLeft/Height" value="0.75"/>
        <Property name="SensorPosition/FrontLeft/Lateral" value="0.86"/>
        <Property name="SensorPosition/FrontLeft/Longitudinal" value="3.84"/>
        <Property name="SensorPosition/FrontLeft/Pitch" value="0.0"/>
        <Property name="SensorPosition/FrontLeft/Roll" value="0.0"/>
        <Property name="SensorPosition/FrontLeft/Yaw" value="1.134464"/>
        <Property name="SensorPosition/FrontRight/Height" value="0.75"/>
        <Property name="SensorPosition/FrontRight/Lateral" value="-0.86"/>
        <Property name="SensorPosition/FrontRight/Longitudinal" value="3.84"/>
        <Property name="SensorPosition/FrontRight/Pitch" value="0.0"/>
        <Property name="SensorPosition/FrontRight/Roll" value="0.0"/>
        <Property name="SensorPosition/FrontRight/Yaw" value="-1.134464"/>
        <Property name="SensorPosition/FrontWindow/Height" value="1.34"/>
        <Property name="SensorPosition/FrontWindow/Lateral" value="0.0"/>
        <Property name="SensorPosition/FrontWindow/Longitudinal" value="2.09"/>
        <Property name="SensorPosition/FrontWindow/Pitch" value="0.0"/>
        <Property name="SensorPosition/FrontWindow/Roll" value="0.0"/>
        <Property name="SensorPosition/FrontWindow/Yaw" value="0.0"/>
        <Property name="SensorPosition/RearLeft/Height" value="0.69"/>
        <Property name="SensorPosition/RearLeft/Lateral" value="0.79"/>
        <Property name="SensorPosition/RearLeft/Longitudinal" value="-0.84"/>
        <Property name="SensorPosition/RearLeft/Pitch" value="0.0"/>
        <Property name="SensorPosition/RearLeft/Roll" value="0.0"/>
        <Property name="SensorPosition/RearLeft/Yaw" value="2.146755"/>
        <Property name="SensorPosition/RearRight/Height" value="0.69"/>
        <Property name="SensorPosition/RearRight/Lateral" value="-0.79"/>
        <Property name="SensorPosition/RearRight/Longitudinal" value="-0.84"/>
        <Property name="SensorPosition/RearRight/Pitch" value="0.0"/>
        <Property name="SensorPosition/RearRight/Roll" value="0.0"/>
        <Property name="SensorPosition/RearRight/Yaw" value="-2.146755"/>
        <Property name="SensorPosition/RearWindow/Height" value="1.38"/>
        <Property name="SensorPosition/RearWindow/Lateral" value="0.0"/>
        <Property name="SensorPosition/RearWindow/Longitudinal" value="0.28"/>
        <Property name="SensorPosition/RearWindow/Pitch" value="0.0"/>
        <Property name="SensorPosition/RearWindow/Roll" value="0.0"/>
        <Property name="SensorPosition/RearWindow/Yaw" value="3.141592"/>
        <Property name="SensorPosition/SideLeft/Height" value="0.24"/>
        <Property name="SensorPosition/SideLeft/Lateral" value="0.91"/>
        <Property name="SensorPosition/SideLeft/Longitudinal" value="1.46"/>
        <Property name="SensorPosition/SideLeft/Pitch" value="0.0"/>
        <Property name="SensorPosition/SideLeft/Roll" value="0.0"/>
        <Property name="SensorPosition/SideLeft/Yaw" value="1.570796"/>
        <Property name="SensorPosition/SideRight/Height" value="0.24"/>
        <Property name="SensorPosition/SideRight/Lateral" value="-0.91"/>
        <Property name="SensorPosition/SideRight/Longitudinal" value="1.46"/>
        <Property name="SensorPosition/SideRight/Pitch" value="0.0"/>
        <Property name="SensorPosition/SideRight/Roll" value="0.0"/>
        <Property name="SensorPosition/SideRight/Yaw" value="-1.570796"/>
        <Property name="SteeringRatio" value="10.7"/>
      </Properties>
      <BoundingBox>
        <Center x="1.485" y="0.0" z="0.745"/>
        <Dimensions width="2.16" length="5.27" height="1.49"/>
      </BoundingBox>
      <Performance maxSpeed="69.44" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
      <Axles>
        <FrontAxle maxSteering="0.5279" wheelDiameter="0.682" trackWidth="1.8" positionX="3.25" positionZ="0.341"/>
        <RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/>
      </Axles>
    </Vehicle>
    <Vehicle model3d="car_mini_cooper" mass="1235.0" name="car_mini_cooper" vehicleCategory="car">
      <Properties>
        <Property name="AirDragCoefficient" value="0.3"/>
        <Property name="AxleRatio" value="3.789"/>
        <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
        <Property name="FrictionCoefficient" value="1.0"/>
        <Property name="FrontSurface" value="2.07"/>
        <Property name="GearRatio1" value="4.154"/>
        <Property name="GearRatio2" value="2.45"/>
        <Property name="GearRatio3" value="1.557"/>
        <Property name="GearRatio4" value="1.09"/>
        <Property name="GearRatio5" value="0.843"/>
        <Property name="GearRatio6" value="0.675"/>
        <Property name="GearRatio7" value="0.547"/>
        <Property name="MaximumEngineSpeed" value="6000.0"/>
        <Property name="MaximumEngineTorque" value="220.0"/>
        <Property name="MinimumEngineSpeed" value="900.0"/>
        <Property name="MinimumEngineTorque" value="-54.0"/>
        <Property name="MomentInertiaPitch" value="0.0"/>
        <Property name="MomentInertiaRoll" value="0.0"/>
        <Property name="MomentInertiaYaw" value="0.0"/>
        <Property name="NumberOfGears" value="7"/>
        <Property name="SensorPosition/FrontCenter/Height" value="0.57"/>
        <Property name="SensorPosition/FrontCenter/Lateral" value="0.0"/>
        <Property name="SensorPosition/FrontCenter/Longitudinal" value="3.22"/>
        <Property name="SensorPosition/FrontCenter/Pitch" value="0.0"/>
        <Property name="SensorPosition/FrontCenter/Roll" value="0.0"/>
        <Property name="SensorPosition/FrontCenter/Yaw" value="0.0"/>
        <Property name="SensorPosition/FrontLeft/Height" value="0.65"/>
        <Property name="SensorPosition/FrontLeft/Lateral" value="0.65"/>
        <Property name="SensorPosition/FrontLeft/Longitudinal" value="3.05"/>
        <Property name="SensorPosition/FrontLeft/Pitch" value="0.0"/>
        <Property name="SensorPosition/FrontLeft/Roll" value="0.0"/>
        <Property name="SensorPosition/FrontLeft/Yaw" value="1.134464"/>
        <Property name="SensorPosition/FrontRight/Height" value="0.65"/>
        <Property name="SensorPosition/FrontRight/Lateral" value="-0.65"/>
        <Property name="SensorPosition/FrontRight/Longitudinal" value="3.05"/>
        <Property name="SensorPosition/FrontRight/Pitch" value="0.0"/>
        <Property name="SensorPosition/FrontRight/Roll" value="0.0"/>
        <Property name="SensorPosition/FrontRight/Yaw" value="-1.134464"/>
        <Property name="SensorPosition/FrontWindow/Height" value="1.28"/>
        <Property name="SensorPosition/FrontWindow/Lateral" value="0.0"/>
        <Property name="SensorPosition/FrontWindow/Longitudinal" value="1.83"/>
        <Property name="SensorPosition/FrontWindow/Pitch" value="0.0"/>
        <Property name="SensorPosition/FrontWindow/Roll" value="0.0"/>
        <Property name="SensorPosition/FrontWindow/Yaw" value="0.0"/>
        <Property name="SensorPosition/RearLeft/Height" value="0.6"/>
        <Property name="SensorPosition/RearLeft/Lateral" value="0.7"/>
        <Property name="SensorPosition/RearLeft/Longitudinal" value="-0.35"/>
        <Property name="SensorPosition/RearLeft/Pitch" value="0.0"/>
        <Property name="SensorPosition/RearLeft/Roll" value="0.0"/>
        <Property name="SensorPosition/RearLeft/Yaw" value="2.146755"/>
        <Property name="SensorPosition/RearRight/Height" value="0.6"/>
        <Property name="SensorPosition/RearRight/Lateral" value="-0.7"/>
        <Property name="SensorPosition/RearRight/Longitudinal" value="-0.35"/>
        <Property name="SensorPosition/RearRight/Pitch" value="0.0"/>
        <Property name="SensorPosition/RearRight/Roll" value="0.0"/>
        <Property name="SensorPosition/RearRight/Yaw" value="-2.146755"/>
        <Property name="SensorPosition/RearWindow/Height" value="1.33"/>
        <Property name="SensorPosition/RearWindow/Lateral" value="0.0"/>
        <Property name="SensorPosition/RearWindow/Longitudinal" value="-0.08"/>
        <Property name="SensorPosition/RearWindow/Pitch" value="0.0"/>
        <Property name="SensorPosition/RearWindow/Roll" value="0.0"/>
        <Property name="SensorPosition/RearWindow/Yaw" value="3.141592"/>
        <Property name="SensorPosition/SideLeft/Height" value="0.26"/>
        <Property name="SensorPosition/SideLeft/Lateral" value="0.81"/>
        <Property name="SensorPosition/SideLeft/Longitudinal" value="1.06"/>
        <Property name="SensorPosition/SideLeft/Pitch" value="0.0"/>
        <Property name="SensorPosition/SideLeft/Roll" value="0.0"/>
        <Property name="SensorPosition/SideLeft/Yaw" value="1.570796"/>
        <Property name="SensorPosition/SideRight/Height" value="0.26"/>
        <Property name="SensorPosition/SideRight/Lateral" value="-0.81"/>
        <Property name="SensorPosition/SideRight/Longitudinal" value="1.06"/>
        <Property name="SensorPosition/SideRight/Pitch" value="0.0"/>
        <Property name="SensorPosition/SideRight/Roll" value="0.0"/>
        <Property name="SensorPosition/SideRight/Yaw" value="-1.570796"/>
        <Property name="SteeringRatio" value="10.7"/>
      </Properties>
      <BoundingBox>
        <Center x="1.35" y="0.0" z="0.71"/>
        <Dimensions width="1.89" length="3.8" height="1.42"/>
      </BoundingBox>
      <Performance maxSpeed="58.33" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
      <Axles>
        <FrontAxle maxSteering="0.4766" wheelDiameter="0.59" trackWidth="1.8" positionX="2.48" positionZ="0.295"/>
        <RearAxle maxSteering="0.0" wheelDiameter="0.59" trackWidth="1.8" positionX="0.0" positionZ="0.295"/>
      </Axles>
    </Vehicle>
    <Vehicle model3d="car_oldtimer" mass="1525.0" name="car_oldtimer" vehicleCategory="car">
      <Properties>
        <Property name="AirDragCoefficient" value="0.3"/>
        <Property name="AxleRatio" value="2.813"/>
        <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
        <Property name="FrictionCoefficient" value="1.0"/>
        <Property name="FrontSurface" value="2.2"/>
        <Property name="GearRatio1" value="5.0"/>
        <Property name="GearRatio2" value="3.2"/>
        <Property name="GearRatio3" value="2.143"/>
        <Property name="GearRatio4" value="1.72"/>
        <Property name="GearRatio5" value="1.314"/>
        <Property name="GearRatio6" value="1.0"/>
        <Property name="GearRatio7" value="0.822"/>
        <Property name="GearRatio8" value="0.64"/>
        <Property name="MaximumEngineSpeed" value="6000.0"/>
        <Property name="MaximumEngineTorque" value="270.0"/>
        <Property name="MinimumEngineSpeed" value="900.0"/>
        <Property name="MinimumEngineTorque" value="-54.0"/>
        <Property name="MomentInertiaPitch" value="0.0"/>
        <Property name="MomentInertiaRoll" value="0.0"/>
        <Property name="MomentInertiaYaw" value="0.0"/>
        <Property name="NumberOfGears" value="8"/>
        <Property name="SteeringRatio" value="10.7"/>
      </Properties>
      <BoundingBox>
        <Center x="1.2" y="0.0" z="0.675"/>
        <Dimensions width="1.68" length="3.89" height="1.35"/>
      </BoundingBox>
      <Performance maxSpeed="40.0" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
      <Axles>
        <FrontAxle maxSteering="0.5012" wheelDiameter="0.634" trackWidth="1.4" positionX="2.81" positionZ="0.317"/>
        <RearAxle maxSteering="0.0" wheelDiameter="0.634" trackWidth="1.4" positionX="0.0" positionZ="0.317"/>
      </Axles>
    </Vehicle>
    <Vehicle model3d="bus" mass="25000.0" name="bus" vehicleCategory="truck">
      <Properties>
        <Property name="AirDragCoefficient" value="0.8"/>
        <Property name="AxleRatio" value="4.0"/>
        <Property name="DecelerationFromPowertrainDrag" value="1.0"/>
        <Property name="FrictionCoefficient" value="1.0"/>
        <Property name="FrontSurface" value="9.0"/>
        <Property name="GearRatio1" value="6.316"/>
        <Property name="GearRatio2" value="4.554"/>
        <Property name="GearRatio3" value="3.269"/>
        <Property name="GearRatio4" value="2.352"/>
        <Property name="GearRatio5" value="1.692"/>
        <Property name="GearRatio6" value="1.217"/>
        <Property name="GearRatio7" value="0.876"/>
        <Property name="GearRatio8" value="0.630"/>
        <Property name="MaximumEngineSpeed" value="2500.0"/>
        <Property name="MaximumEngineTorque" value="1400.0"/>
        <Property name="MinimumEngineSpeed" value="600.0"/>
        <Property name="MinimumEngineTorque" value="-140.0"/>
        <Property name="MomentInertiaPitch" value="0.0"/>
        <Property name="MomentInertiaRoll" value="0.0"/>
        <Property name="MomentInertiaYaw" value="0.0"/>
        <Property name="NumberOfGears" value="8"/>
        <Property name="SteeringRatio" value="15.0"/>
      </Properties>
      <BoundingBox>
        <Center x="2.815" y="0.0" z="1.92"/>
        <Dimensions width="2.91" length="13.23" height="3.84"/>
      </BoundingBox>
      <Performance maxSpeed="33.33" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
      <Axles>
        <FrontAxle maxSteering="0.6972" wheelDiameter="0.808" trackWidth="1.8" positionX="6.64" positionZ="0.404"/>
        <RearAxle maxSteering="0.0" wheelDiameter="0.808" trackWidth="1.8" positionX="0.0" positionZ="0.404"/>
      </Axles>
    </Vehicle>
    <Vehicle model3d="truck" mass="30000.0" name="truck" vehicleCategory="truck">
      <Properties>
        <Property name="AirDragCoefficient" value="0.8"/>
        <Property name="AxleRatio" value="4.0"/>
        <Property name="DecelerationFromPowertrainDrag" value="1.0"/>
        <Property name="FrictionCoefficient" value="1.0"/>
        <Property name="FrontSurface" value="9.0"/>
        <Property name="GearRatio1" value="6.316"/>
        <Property name="GearRatio2" value="4.554"/>
        <Property name="GearRatio3" value="3.269"/>
        <Property name="GearRatio4" value="2.352"/>
        <Property name="GearRatio5" value="1.692"/>
        <Property name="GearRatio6" value="1.217"/>
        <Property name="GearRatio7" value="0.876"/>
        <Property name="GearRatio8" value="0.630"/>
        <Property name="MaximumEngineSpeed" value="2500.0"/>
        <Property name="MaximumEngineTorque" value="1400.0"/>
        <Property name="MinimumEngineSpeed" value="600.0"/>
        <Property name="MinimumEngineTorque" value="-140.0"/>
        <Property name="MomentInertiaPitch" value="0.0"/>
        <Property name="MomentInertiaRoll" value="0.0"/>
        <Property name="MomentInertiaYaw" value="0.0"/>
        <Property name="NumberOfGears" value="8"/>
        <Property name="SteeringRatio" value="15.0"/>
      </Properties>
      <BoundingBox>
        <Center x="2.685" y="0.0" z="1.74"/>
        <Dimensions width="3.16" length="8.83" height="3.48"/>
      </BoundingBox>
      <Performance maxSpeed="25.0" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
      <Axles>
        <FrontAxle maxSteering="0.4352" wheelDiameter="0.808" trackWidth="1.8" positionX="4.36" positionZ="0.404"/>
        <RearAxle maxSteering="0.0" wheelDiameter="0.808" trackWidth="1.8" positionX="0.0" positionZ="0.404"/>
      </Axles>
    </Vehicle>
    <Vehicle model3d="truck_lorry" mass="30000.0" name="truck_lorry" vehicleCategory="truck">
      <Properties>
        <Property name="AirDragCoefficient" value="0.8"/>
        <Property name="AxleRatio" value="4.0"/>
        <Property name="DecelerationFromPowertrainDrag" value="1.0"/>
        <Property name="FrictionCoefficient" value="1.0"/>
        <Property name="FrontSurface" value="9.0"/>
        <Property name="GearRatio1" value="6.316"/>
        <Property name="GearRatio2" value="4.554"/>
        <Property name="GearRatio3" value="3.269"/>
        <Property name="GearRatio4" value="2.352"/>
        <Property name="GearRatio5" value="1.692"/>
        <Property name="GearRatio6" value="1.217"/>
        <Property name="GearRatio7" value="0.876"/>
        <Property name="GearRatio8" value="0.630"/>
        <Property name="MaximumEngineSpeed" value="2500.0"/>
        <Property name="MaximumEngineTorque" value="1400.0"/>
        <Property name="MinimumEngineSpeed" value="600.0"/>
        <Property name="MinimumEngineTorque" value="-140.0"/>
        <Property name="MomentInertiaPitch" value="0.0"/>
        <Property name="MomentInertiaRoll" value="0.0"/>
        <Property name="MomentInertiaYaw" value="0.0"/>
        <Property name="NumberOfGears" value="8"/>
        <Property name="SteeringRatio" value="15.0"/>
      </Properties>
      <BoundingBox>
        <Center x="2.11" y="0.0" z="1.7"/>
        <Dimensions width="2.93" length="8.47" height="3.4"/>
      </BoundingBox>
      <Performance maxSpeed="25.0" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
      <Axles>
        <FrontAxle maxSteering="0.4352" wheelDiameter="0.808" trackWidth="1.8" positionX="4.36" positionZ="0.404"/>
        <RearAxle maxSteering="0.0" wheelDiameter="0.808" trackWidth="1.8" positionX="0.0" positionZ="0.404"/>
      </Axles>
    </Vehicle>
    <Vehicle model3d="bicycle" mass="90.0" name="bicycle" vehicleCategory="bicycle">
      <Properties>
        <Property name="AirDragCoefficient" value="0.3"/>
        <Property name="AxleRatio" value="3.0"/>
        <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
        <Property name="FrictionCoefficient" value="1.0"/>
        <Property name="FrontSurface" value="1.9"/>
        <Property name="GearRatio1" value="4.350"/>
        <Property name="GearRatio2" value="2.496"/>
        <Property name="GearRatio3" value="1.665"/>
        <Property name="GearRatio4" value="1.230"/>
        <Property name="GearRatio5" value="1.0"/>
        <Property name="GearRatio6" value="0.851"/>
        <Property name="MaximumEngineSpeed" value="6000.0"/>
        <Property name="MaximumEngineTorque" value="540.0"/>
        <Property name="MinimumEngineSpeed" value="900.0"/>
        <Property name="MinimumEngineTorque" value="-54.0"/>
        <Property name="MomentInertiaPitch" value="0.0"/>
        <Property name="MomentInertiaRoll" value="0.0"/>
        <Property name="MomentInertiaYaw" value="0.0"/>
        <Property name="NumberOfGears" value="6"/>
        <Property name="SteeringRatio" value="10.7"/>
      </Properties>
      <BoundingBox>
        <Center x="0.175" y="0.0" z="0.9325"/>
        <Dimensions width="0.5" length="1.89" height="1.865"/>
      </BoundingBox>
      <Performance maxSpeed="10.0" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
      <Axles>
        <FrontAxle maxSteering="1.5708" wheelDiameter="0.636" trackWidth="0.1" positionX="1.04" positionZ="0.318"/>
        <RearAxle maxSteering="0.0" wheelDiameter="0.636" trackWidth="0.1" positionX="0.0" positionZ="0.318"/>
      </Axles>
    </Vehicle>
  </Catalog>
</OpenSCENARIO>
