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<div class="section" id="scenery">
<span id="id1"></span><h1>Scenery<a class="headerlink" href="#scenery" title="Permalink to this headline"></a></h1>
<p>This file describes the road network and all static objects of the road for the simulation run.
It is structured according to the <strong>ASAM OpenDRIVE 1.6</strong> standard.</p>
<p>The file name can be freely chosen, but needs to be properly referenced by the <a class="reference internal" href="scenario.html#scenario"><span class="std std-ref">Scenario</span></a> within the tag <a class="reference internal" href="scenario.html#scenario-roadnetwork"><span class="std std-ref">RoadNetwork</span></a>.</p>
<div class="section" id="restrictions">
<h2>Restrictions<a class="headerlink" href="#restrictions" title="Permalink to this headline"></a></h2>
<p>If object definitions does not meet the openDRIVE or are not supported, the simulation is aborted.
On top <strong>openPASS</strong> adds some additional requirements to the attributes of objects:</p>
<ul class="simple">
<li><p>length &gt; 0</p></li>
<li><p>width &gt; 0</p></li>
<li><p>radius == 0</p></li>
</ul>
<p>Objects, which do no meet these requirements are ignored.</p>
</div>
<div class="section" id="full-example">
<h2>Full Example<a class="headerlink" href="#full-example" title="Permalink to this headline"></a></h2>
<div class="literal-block-wrapper docutils container" id="id2">
<div class="code-block-caption"><span class="caption-text">SceneryConfiguration.xodr</span><a class="headerlink" href="#id2" title="Permalink to this code"></a></div>
<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="lineno"> 1 </span><span class="nt">&lt;OpenDRIVE&gt;</span>
<span class="lineno"> 2 </span> <span class="nt">&lt;header</span> <span class="na">revMajor=</span><span class="s">&quot;1&quot;</span> <span class="na">revMinor=</span><span class="s">&quot;1&quot;</span> <span class="na">name=</span><span class="s">&quot;Testfile&quot;</span> <span class="na">version=</span><span class="s">&quot;1&quot;</span> <span class="na">date=</span><span class="s">&quot;Thu Feb 8 14:24:06 2007&quot;</span> <span class="na">north=</span><span class="s">&quot;2.0000000000000000e+003&quot;</span> <span class="na">south=</span><span class="s">&quot;-2.0000000000000000e+003&quot;</span> <span class="na">east=</span><span class="s">&quot;2.0000000000000000e+003&quot;</span> <span class="na">west=</span><span class="s">&quot;-2.0000000000000000e+003&quot;</span><span class="nt">/&gt;</span>
<span class="lineno"> 3 </span> <span class="nt">&lt;road</span> <span class="na">name=</span><span class="s">&quot;&quot;</span> <span class="na">length=</span><span class="s">&quot;5139.7188686309819&quot;</span> <span class="na">id=</span><span class="s">&quot;1&quot;</span> <span class="na">junction=</span><span class="s">&quot;-1&quot;</span><span class="nt">&gt;</span>
<span class="lineno"> 4 </span> <span class="nt">&lt;link/&gt;</span>
<span class="lineno"> 5 </span> <span class="nt">&lt;planView&gt;</span>
<span class="lineno"> 6 </span> <span class="nt">&lt;geometry</span> <span class="na">s=</span><span class="s">&quot;0.0000000000000000e+000&quot;</span> <span class="na">x=</span><span class="s">&quot;0&quot;</span> <span class="na">y=</span><span class="s">&quot;7.5&quot;</span> <span class="na">hdg=</span><span class="s">&quot;0&quot;</span> <span class="na">length=</span><span class="s">&quot;4000&quot;</span><span class="nt">&gt;</span>
<span class="lineno"> 7 </span> <span class="nt">&lt;line/&gt;</span>
<span class="lineno"> 8 </span> <span class="nt">&lt;/geometry&gt;</span>
<span class="lineno"> 9 </span> <span class="nt">&lt;geometry</span> <span class="na">s=</span><span class="s">&quot;4000&quot;</span> <span class="na">x=</span><span class="s">&quot;4000&quot;</span> <span class="na">y=</span><span class="s">&quot;7.5&quot;</span> <span class="na">hdg=</span><span class="s">&quot;0&quot;</span> <span class="na">length=</span><span class="s">&quot;285&quot;</span><span class="nt">&gt;</span>
<span class="lineno">10 </span> <span class="nt">&lt;spiral</span> <span class="na">curvStart=</span><span class="s">&quot;0.0000000000000000e+000&quot;</span> <span class="na">curvEnd=</span><span class="s">&quot;-0.0028500000000000066&quot;</span><span class="nt">/&gt;</span>
<span class="lineno">11 </span> <span class="nt">&lt;/geometry&gt;</span>
<span class="lineno">12 </span> <span class="nt">&lt;geometry</span> <span class="na">s=</span><span class="s">&quot;4285&quot;</span> <span class="na">x=</span><span class="s">&quot;4280.3350391612494&quot;</span> <span class="na">y=</span><span class="s">&quot;-30.629710830536482&quot;</span> <span class="na">hdg=</span><span class="s">&quot;-0.40612500000000096&quot;</span> <span class="na">length=</span><span class="s">&quot;183.7188686309816&quot;</span><span class="nt">&gt;</span>
<span class="lineno">13 </span> <span class="nt">&lt;arc</span> <span class="na">curvature=</span><span class="s">&quot;-0.0028500000000000066&quot;</span><span class="nt">/&gt;</span>
<span class="lineno">14 </span> <span class="nt">&lt;/geometry&gt;</span>
<span class="lineno">15 </span> <span class="nt">&lt;geometry</span> <span class="na">s=</span><span class="s">&quot;4468.7188686309819&quot;</span> <span class="na">x=</span><span class="s">&quot;4422.9323279193268&quot;</span> <span class="na">y=</span><span class="s">&quot;-143.12204699500415&quot;</span> <span class="na">hdg=</span><span class="s">&quot;-0.92972377559829977&quot;</span> <span class="na">length=</span><span class="s">&quot;571&quot;</span><span class="nt">&gt;</span>
<span class="lineno">16 </span> <span class="nt">&lt;spiral</span> <span class="na">curvStart=</span><span class="s">&quot;-0.0028500000000000066&quot;</span> <span class="na">curvEnd=</span><span class="s">&quot;0.0000000000000000e+000&quot;</span><span class="nt">/&gt;</span>
<span class="lineno">17 </span> <span class="nt">&lt;/geometry&gt;</span>
<span class="lineno">18 </span> <span class="nt">&lt;geometry</span> <span class="na">s=</span><span class="s">&quot;5039.7188686309819&quot;</span> <span class="na">x=</span><span class="s">&quot;4476.6651848689908&quot;</span> <span class="na">y=</span><span class="s">&quot;-694.88624436808436&quot;</span> <span class="na">hdg=</span><span class="s">&quot;-1.7453292519943295&quot;</span> <span class="na">length=</span><span class="s">&quot;100&quot;</span><span class="nt">&gt;</span>
<span class="lineno">19 </span> <span class="nt">&lt;line/&gt;</span>
<span class="lineno">20 </span> <span class="nt">&lt;/geometry&gt;</span>
<span class="lineno">21 </span> <span class="nt">&lt;/planView&gt;</span>
<span class="lineno">22 </span> <span class="nt">&lt;elevationProfile/&gt;</span>
<span class="lineno">23 </span> <span class="nt">&lt;lateralProfile/&gt;</span>
<span class="lineno">24 </span> <span class="nt">&lt;lanes&gt;</span>
<span class="lineno">25 </span> <span class="nt">&lt;laneSection</span> <span class="na">s=</span><span class="s">&quot;0.0000000000000000e+000&quot;</span><span class="nt">&gt;</span>
<span class="lineno">26 </span> <span class="nt">&lt;left/&gt;</span>
<span class="lineno">27 </span> <span class="nt">&lt;center&gt;</span>
<span class="lineno">28 </span> <span class="nt">&lt;lane</span> <span class="na">id=</span><span class="s">&quot;0&quot;</span> <span class="na">type=</span><span class="s">&quot;border&quot;</span> <span class="na">level=</span><span class="s">&quot;true&quot;</span><span class="nt">&gt;</span>
<span class="lineno">29 </span> <span class="nt">&lt;link&gt;</span>
<span class="lineno">30 </span> <span class="nt">&lt;successor</span> <span class="na">id=</span><span class="s">&quot;0&quot;</span><span class="nt">/&gt;</span>
<span class="lineno">31 </span> <span class="nt">&lt;/link&gt;</span>
<span class="lineno">32 </span> <span class="nt">&lt;roadMark</span> <span class="na">weight=</span><span class="s">&quot;standard&quot;</span> <span class="na">sOffset=</span><span class="s">&quot;0&quot;</span> <span class="na">type=</span><span class="s">&quot;solid&quot;</span> <span class="na">color=</span><span class="s">&quot;standard&quot;</span> <span class="na">width=</span><span class="s">&quot;0.12&quot;</span> <span class="na">laneChange=</span><span class="s">&quot;both&quot;</span><span class="nt">/&gt;</span>
<span class="lineno">33 </span> <span class="nt">&lt;/lane&gt;</span>
<span class="lineno">34 </span> <span class="nt">&lt;/center&gt;</span>
<span class="lineno">35 </span> <span class="nt">&lt;right&gt;</span>
<span class="lineno">36 </span> <span class="nt">&lt;lane</span> <span class="na">id=</span><span class="s">&quot;-1&quot;</span> <span class="na">type=</span><span class="s">&quot;driving&quot;</span> <span class="na">level=</span><span class="s">&quot;true&quot;</span><span class="nt">&gt;</span>
<span class="lineno">37 </span> <span class="nt">&lt;link&gt;</span>
<span class="lineno">38 </span> <span class="nt">&lt;successor</span> <span class="na">id=</span><span class="s">&quot;-1&quot;</span><span class="nt">/&gt;</span>
<span class="lineno">39 </span> <span class="nt">&lt;/link&gt;</span>
<span class="lineno">40 </span> <span class="nt">&lt;width</span> <span class="na">sOffset=</span><span class="s">&quot;0&quot;</span> <span class="na">a=</span><span class="s">&quot;3.75&quot;</span> <span class="na">b=</span><span class="s">&quot;0&quot;</span> <span class="na">c=</span><span class="s">&quot;0&quot;</span> <span class="na">d=</span><span class="s">&quot;0&quot;</span><span class="nt">/&gt;</span>
<span class="lineno">41 </span> <span class="nt">&lt;roadMark</span> <span class="na">weight=</span><span class="s">&quot;standard&quot;</span> <span class="na">sOffset=</span><span class="s">&quot;0&quot;</span> <span class="na">type=</span><span class="s">&quot;broken&quot;</span> <span class="na">color=</span><span class="s">&quot;standard&quot;</span> <span class="na">width=</span><span class="s">&quot;0.12&quot;</span> <span class="na">laneChange=</span><span class="s">&quot;both&quot;</span><span class="nt">/&gt;</span>
<span class="lineno">42 </span> <span class="nt">&lt;/lane&gt;</span>
<span class="lineno">43 </span> <span class="nt">&lt;lane</span> <span class="na">id=</span><span class="s">&quot;-2&quot;</span> <span class="na">type=</span><span class="s">&quot;driving&quot;</span> <span class="na">level=</span><span class="s">&quot;true&quot;</span><span class="nt">&gt;</span>
<span class="lineno">44 </span> <span class="nt">&lt;link&gt;</span>
<span class="lineno">45 </span> <span class="nt">&lt;successor</span> <span class="na">id=</span><span class="s">&quot;-2&quot;</span><span class="nt">/&gt;</span>
<span class="lineno">46 </span> <span class="nt">&lt;/link&gt;</span>
<span class="lineno">47 </span> <span class="nt">&lt;width</span> <span class="na">sOffset=</span><span class="s">&quot;0&quot;</span> <span class="na">a=</span><span class="s">&quot;3.75&quot;</span> <span class="na">b=</span><span class="s">&quot;0&quot;</span> <span class="na">c=</span><span class="s">&quot;0&quot;</span> <span class="na">d=</span><span class="s">&quot;0&quot;</span><span class="nt">/&gt;</span>
<span class="lineno">48 </span> <span class="nt">&lt;roadMark</span> <span class="na">weight=</span><span class="s">&quot;standard&quot;</span> <span class="na">sOffset=</span><span class="s">&quot;0&quot;</span> <span class="na">type=</span><span class="s">&quot;solid&quot;</span> <span class="na">color=</span><span class="s">&quot;standard&quot;</span> <span class="na">width=</span><span class="s">&quot;0.12&quot;</span> <span class="na">laneChange=</span><span class="s">&quot;both&quot;</span><span class="nt">/&gt;</span>
<span class="lineno">49 </span> <span class="nt">&lt;/lane&gt;</span>
<span class="lineno">50 </span> <span class="nt">&lt;/right&gt;</span>
<span class="lineno">51 </span> <span class="nt">&lt;/laneSection&gt;</span>
<span class="lineno">52 </span> <span class="nt">&lt;/lanes&gt;</span>
<span class="lineno">53 </span> <span class="nt">&lt;objects&gt;</span>
<span class="lineno">54 </span> <span class="nt">&lt;object</span> <span class="na">type=</span><span class="s">&quot;roadMark&quot;</span> <span class="na">name=</span><span class="s">&quot;RoadSideMarkerPost&quot;</span> <span class="na">id=</span><span class="s">&quot;&quot;</span> <span class="na">s=</span><span class="s">&quot;0&quot;</span> <span class="na">t=</span><span class="s">&quot;1&quot;</span> <span class="na">zOffset=</span><span class="s">&quot;0&quot;</span> <span class="na">validLength=</span><span class="s">&quot;0&quot;</span> <span class="na">orientation=</span><span class="s">&quot;+&quot;</span> <span class="na">length=</span><span class="s">&quot;0.12&quot;</span> <span class="na">width=</span><span class="s">&quot;0.12&quot;</span> <span class="na">height=</span><span class="s">&quot;1.2&quot;</span> <span class="na">hdg=</span><span class="s">&quot;0&quot;</span> <span class="na">pitch=</span><span class="s">&quot;0&quot;</span> <span class="na">roll=</span><span class="s">&quot;0&quot;</span><span class="nt">&gt;</span>
<span class="lineno">55 </span> <span class="nt">&lt;repeat</span> <span class="na">s=</span><span class="s">&quot;0&quot;</span> <span class="na">distance=</span><span class="s">&quot;50&quot;</span> <span class="na">length=</span><span class="s">&quot;5139.7188686309819&quot;</span><span class="nt">/&gt;</span>
<span class="lineno">56 </span> <span class="nt">&lt;/object&gt;</span>
<span class="lineno">57 </span> <span class="nt">&lt;object</span> <span class="na">type=</span><span class="s">&quot;roadMark&quot;</span> <span class="na">name=</span><span class="s">&quot;RoadSideMarkerPost&quot;</span> <span class="na">id=</span><span class="s">&quot;&quot;</span> <span class="na">s=</span><span class="s">&quot;0&quot;</span> <span class="na">t=</span><span class="s">&quot;-8.5&quot;</span> <span class="na">zOffset=</span><span class="s">&quot;0&quot;</span> <span class="na">validLength=</span><span class="s">&quot;0&quot;</span> <span class="na">orientation=</span><span class="s">&quot;-&quot;</span> <span class="na">length=</span><span class="s">&quot;0.12&quot;</span> <span class="na">width=</span><span class="s">&quot;0.12&quot;</span> <span class="na">height=</span><span class="s">&quot;1.2&quot;</span> <span class="na">hdg=</span><span class="s">&quot;0&quot;</span> <span class="na">pitch=</span><span class="s">&quot;0&quot;</span> <span class="na">roll=</span><span class="s">&quot;0&quot;</span><span class="nt">&gt;</span>
<span class="lineno">58 </span> <span class="nt">&lt;repeat</span> <span class="na">s=</span><span class="s">&quot;0&quot;</span> <span class="na">distance=</span><span class="s">&quot;50&quot;</span> <span class="na">length=</span><span class="s">&quot;5139.7188686309819&quot;</span><span class="nt">/&gt;</span>
<span class="lineno">59 </span> <span class="nt">&lt;/object&gt;</span>
<span class="lineno">60 </span> <span class="nt">&lt;object</span> <span class="na">type=</span><span class="s">&quot;railing&quot;</span> <span class="na">name=</span><span class="s">&quot;GuardRail&quot;</span> <span class="na">id=</span><span class="s">&quot;&quot;</span> <span class="na">s=</span><span class="s">&quot;0&quot;</span> <span class="na">t=</span><span class="s">&quot;0.5&quot;</span> <span class="na">zOffset=</span><span class="s">&quot;0&quot;</span> <span class="na">validLength=</span><span class="s">&quot;0&quot;</span> <span class="na">orientation=</span><span class="s">&quot;+&quot;</span> <span class="na">length=</span><span class="s">&quot;3.0&quot;</span> <span class="na">width=</span><span class="s">&quot;0.25&quot;</span> <span class="na">height=</span><span class="s">&quot;0.9&quot;</span> <span class="na">hdg=</span><span class="s">&quot;0&quot;</span> <span class="na">pitch=</span><span class="s">&quot;0&quot;</span> <span class="na">roll=</span><span class="s">&quot;0&quot;</span><span class="nt">&gt;</span>
<span class="lineno">61 </span> <span class="nt">&lt;repeat</span> <span class="na">s=</span><span class="s">&quot;0&quot;</span> <span class="na">distance=</span><span class="s">&quot;0&quot;</span> <span class="na">length=</span><span class="s">&quot;5139.7188686309819&quot;</span><span class="nt">/&gt;</span>
<span class="lineno">62 </span> <span class="nt">&lt;/object&gt;</span>
<span class="lineno">63 </span> <span class="nt">&lt;object</span> <span class="na">type=</span><span class="s">&quot;railing&quot;</span> <span class="na">name=</span><span class="s">&quot;GuardRail&quot;</span> <span class="na">id=</span><span class="s">&quot;&quot;</span> <span class="na">s=</span><span class="s">&quot;0&quot;</span> <span class="na">t=</span><span class="s">&quot;-8&quot;</span> <span class="na">zOffset=</span><span class="s">&quot;0&quot;</span> <span class="na">validLength=</span><span class="s">&quot;0&quot;</span> <span class="na">orientation=</span><span class="s">&quot;-&quot;</span> <span class="na">length=</span><span class="s">&quot;3.0&quot;</span> <span class="na">width=</span><span class="s">&quot;0.25&quot;</span> <span class="na">height=</span><span class="s">&quot;0.9&quot;</span> <span class="na">hdg=</span><span class="s">&quot;0&quot;</span> <span class="na">pitch=</span><span class="s">&quot;0&quot;</span> <span class="na">roll=</span><span class="s">&quot;0&quot;</span><span class="nt">&gt;</span>
<span class="lineno">64 </span> <span class="nt">&lt;repeat</span> <span class="na">s=</span><span class="s">&quot;0&quot;</span> <span class="na">distance=</span><span class="s">&quot;0&quot;</span> <span class="na">length=</span><span class="s">&quot;5139.7188686309819&quot;</span><span class="nt">/&gt;</span>
<span class="lineno">65 </span> <span class="nt">&lt;/object&gt;</span>
<span class="lineno">66 </span> <span class="nt">&lt;/objects&gt;</span>
<span class="lineno">67 </span> <span class="nt">&lt;signals/&gt;</span>
<span class="lineno">68 </span> <span class="nt">&lt;/road&gt;</span>
<span class="lineno">69 </span><span class="nt">&lt;/OpenDRIVE&gt;</span>
</pre></div>
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