road_network_filename: "sim/simple_sim/testdata/example_road.zrn.pbtxt"
entity {
  name: "test_static_obstacle"
  body {
    pose {
      inertial {
        x: 25
        y: 2
        yaw: 0
      }
    }
    bounds {
      length: 3
      width: 2
      height: 3
    }
  }
  static_obstacle {}
}
entity {
  name: "test_bike"
  body {
    pose {
      inertial {
        x: 20
        y: -2
        yaw: 0
      }
    }
    bounds {
      length: 1
      width: 1
      height: 1
    }
  }
  dynamic_obstacle { type: BICYCLIST }
  behavior {
    follow_road {
      velocity {
        linear_x: 3
        linear_y: 0
      }
    }
  }
}
entity {
  name: "test_ped"
  body {
    pose {
      inertial {
        x: 90
        y: -5
        yaw: 0
      }
    }
    bounds {
      length: 1
      width: 1
      height: 1
    }
  }
  dynamic_obstacle { type: PEDESTRIAN }
  behavior {
    move {
      velocity {
        linear_x: 0
        linear_y: 4
      }
    }
  }
}
entity {
  name: "test_car"
  body {
    pose {
      inertial {
        x: 20
        y: 0
        yaw: 0
      }
    }
    bounds {
      length: 1
      width: 1
      height: 1
    }
  }
  dynamic_obstacle { type: CAR }
  behavior {
    stop {}
  }
}
entity {
  name: "object_a"
  body {
    pose {
      inertial {
        x: 0
        y: 0
        yaw: 0
      }
    }
    bounds {
      length: 1
      width: 1
      height: 1
    }
  }
  dynamic_obstacle {}
  behavior {
    stop {}
  }
}
entity {
  name: "object_b"
  body {
    pose {
      inertial {
        x: 0
        y: 0
        yaw: 0
      }
    }
    bounds {
      length: 1
      width: 1
      height: 1
    }
  }
  dynamic_obstacle {}
  behavior {
    stop {}
  }
}
entity {
  name: "object_c"
  body {
    pose {
      track {
        id: 1,
        s: 10,
        t: -1.5,
      }
    }
    bounds {
      length: 1
      width: 1
      height: 1
    }
  }
  dynamic_obstacle {}
  behavior {
    stop {}
  }
}
entity {
  name: "hero"
  body {
    pose {
      track {
        id: 1,
        s: 0,
        t: -1.5,
      }
    }
  }
  hero_vehicle {}
}
trigger {
  name: "send_dispatch_command"
  action {
    [zoox.sim.world.SendMissionCommandAction.ext] {
      hero_name: "hero"
      mission {
        dispatch_command {
          pose {
            track {
              id: 2,
              s: 0,
              t: -1.5,
            }
          }
          objective: PICKUP,
        }
      }
    }
  }
  action {
    [zoox.sim.world.TurnTriggerOnOffAction.ext] {
      name: "send_dispatch_command"
      on: false
    }
  }
}
trigger {
  name: "test_trigger"
  enabled: false
}
trigger {
  name: "turn_trigger_on"
  condition {
    [zoox.sim.world.TimerCondition.ext] {
      wait_time: 1
    }
  }
  action {
    [zoox.sim.world.TurnTriggerOnOffAction.ext]  {
      name: "turn_trigger_on"
      on: false
    }
  }
  action {
    [zoox.sim.world.TurnTriggerOnOffAction.ext]  {
      name: "test_trigger"
      on: true
    }
  }
}
trigger {
  name: "turn_trigger_off"
  condition {
    [zoox.sim.world.TimerCondition.ext] {
      wait_time: 2
    }
  }
  action {
    [zoox.sim.world.TurnTriggerOnOffAction.ext]  {
      name: "turn_trigger_off"
      on: false
    }
  }
  action {
    [zoox.sim.world.TurnTriggerOnOffAction.ext]  {
      name: "test_trigger"
      on: false
    }
  }
}
trigger {
  name: "empty_condition"
}
trigger {
  name: "entity_in_range_of_entity"
  condition {
    [zoox.sim.world.CountEntitiesCondition.ext] {
      selector {
        [zoox.sim.world.EntityExpressionCondition.ext] {
          conjunct {
            [zoox.sim.world.EntityTemplateCondition.ext] {
              prototype {
                name: "object_a"
              }
            }
          }
          conjunct {
            [zoox.sim.world.EntityInRangeOfEntityCondition.ext] {
              target {
                selector {
                  [zoox.sim.world.EntityTemplateCondition.ext] {
                    prototype {
                      name: "object_b"
                    }
                  }
                }
                min_count: 1
              }
              distance: 5
            }
          }
        }
      }
      min_count: 1
    }
  }
}
trigger {
  name: "entity_in_range_of_entity_all"
  condition {
    [zoox.sim.world.CountEntitiesCondition.ext] {
      selector {
        [zoox.sim.world.EntityExpressionCondition.ext] {
          conjunct {
            [zoox.sim.world.EntityTemplateCondition.ext] {
              prototype {
                name: "object_a"
              }
            }
          }
          conjunct {
            [zoox.sim.world.EntityInRangeOfEntityCondition.ext] {
              target {
                selector {
                  [zoox.sim.world.EntityTemplateCondition.ext] {
                    prototype {
                      dynamic_obstacle {}
                    }
                  }
                }
              }
              distance: 5
            }
          }
        }
      }
      min_count: 1
    }
  }
}
trigger {
  name: "entity_in_range_of_entity_any"
  condition {
    [zoox.sim.world.CountEntitiesCondition.ext] {
      selector {
        [zoox.sim.world.EntityExpressionCondition.ext] {
          conjunct {
            [zoox.sim.world.EntityTemplateCondition.ext] {
              prototype {
                name: "object_a"
              }
            }
          }
          conjunct {
            [zoox.sim.world.EntityInRangeOfEntityCondition.ext] {
              target {
                # Any dynamic obstacle that isn't object_a
                selector {
                  [zoox.sim.world.EntityExpressionCondition.ext] {
                    conjunct {
                      [zoox.sim.world.EntityExpressionCondition.ext] {
                        conjunct {
                          [zoox.sim.world.EntityTemplateCondition.ext] {
                            prototype {
                              name: "object_a"
                            }
                          }
                        }
                        inverted: true
                      }
                    }
                    conjunct {
                      [zoox.sim.world.EntityTemplateCondition.ext] {
                        prototype {
                          dynamic_obstacle {}
                        }
                      }
                    }
                  }
                }
                min_count: 1
              }
              distance: 5
            }
          }
        }
      }
      min_count: 1
    }
  }
}
trigger {
  name: "timer"
  condition {
    [zoox.sim.world.TimerCondition.ext] {
      wait_time: 10
    }
  }
}
trigger {
  name: "inverted_timer"
  condition {
    [zoox.sim.world.ExpressionCondition.ext] {
      conjunct {
        [zoox.sim.world.TimerCondition.ext] {
          wait_time: 10
        }
      }
      inverted: true
    }
  }
}
trigger {
  name: "entity_in_region"
  condition {
    [zoox.sim.world.CountEntitiesCondition.ext] {
      selector {
        [zoox.sim.world.EntityExpressionCondition.ext] {
          conjunct {
            [zoox.sim.world.EntityTemplateCondition.ext] {
              prototype {
                name: "object_a"
              }
            }
          }
          conjunct {
            [zoox.sim.world.EntityInRegionCondition.ext] {
              region {
                pose {
                  inertial {
                    x: 4
                    y: 0
                    yaw: 1.5708
                  }
                }
                bounds {
                  length: 2
                  width: 1
                  height: 1
                }
              }
            }
          }
        }
      }
      min_count: 1
    }
  }
}
trigger {
  name: "entity_in_region_all"
  condition {
    [zoox.sim.world.CountEntitiesCondition.ext] {
      selector {
        [zoox.sim.world.EntityExpressionCondition.ext] {
          conjunct {
            [zoox.sim.world.EntityTemplateCondition.ext] {
              prototype {
                dynamic_obstacle {}
              }
            }
          }
          conjunct {
            [zoox.sim.world.EntityExpressionCondition.ext] {
              conjunct {
                [zoox.sim.world.EntityInRegionCondition.ext] {
                  region {
                    pose {
                      inertial {
                        x: 4
                        y: 0
                        yaw: 1.5708
                      }
                    }
                    bounds {
                      length: 2
                      width: 1
                      height: 1
                    }
                  }
                }
              }
              inverted: true
            }
          }
        }
      }
      max_count: 0
    }
  }
}
trigger {
  name: "entity_in_region_any"
  condition {
    [zoox.sim.world.CountEntitiesCondition.ext] {
      selector {
        [zoox.sim.world.EntityExpressionCondition.ext] {
          conjunct {
            [zoox.sim.world.EntityTemplateCondition.ext] {
              prototype {
                dynamic_obstacle {}
              }
            }
          }
          conjunct {
            [zoox.sim.world.EntityInRegionCondition.ext] {
              region {
                pose {
                  inertial {
                    x: 4
                    y: 0
                    yaw: 1.5708
                  }
                }
                bounds {
                  length: 2
                  width: 1
                  height: 1
                }
              }
            }
          }
        }
      }
      min_count: 1
    }
  }
}
trigger {
  name: "entity_property_threshold"
  condition {
    [zoox.sim.world.CountEntitiesCondition.ext] {
      selector {
        [zoox.sim.world.EntityExpressionCondition.ext] {
          conjunct {
            [zoox.sim.world.EntityTemplateCondition.ext] {
              prototype {
                name: "test_car"
              }
            }
          }
          conjunct {
            [zoox.sim.world.EntityPropertyThresholdCondition.ext] {
              property: SPEED
              comparison: GREATER
              threshold_value: 4
            }
          }
        }
      }
      min_count: 1
    }
  }
}
trigger {
  name: "change_entity_stop"
  enabled: false
  action {
    [zoox.sim.world.TurnTriggerOnOffAction.ext] {
      name: "change_entity_stop"
      on: false
    }
  }
  action {
    [zoox.sim.world.ChangeEntityAction.ext] {
      target: "object_c"
      changes {
        behavior {
          stop {}
        }
      }
    }
  }
}
trigger {
  name: "change_entity_move"
  enabled: false
  action {
    [zoox.sim.world.TurnTriggerOnOffAction.ext] {
      name: "change_entity_move"
      on: false
    }
  }
  action {
    [zoox.sim.world.ChangeEntityAction.ext] {
      target: "object_c"
      changes {
        behavior {
          move {
            velocity {
              linear_x: 3
              linear_y: 1
              angular_z: 1.5
            }
          }
        }
      }
    }
  }
}
trigger {
  name: "change_entity_followroad"
  enabled: false
  action {
    [zoox.sim.world.TurnTriggerOnOffAction.ext] {
      name: "change_entity_followroad"
      on: false
    }
  }
  action {
    [zoox.sim.world.ChangeEntityAction.ext] {
      target: "object_c"
      changes {
        behavior {
          follow_road {
            velocity {
              linear_x: 1
            }
            next_road_id: 4
          }
        }
      }
    }
  }
}
trigger {
  name: "create_entity"
  enabled: false
  action {
    [zoox.sim.world.TurnTriggerOnOffAction.ext] {
      name: "create_entity"
      on: false
    }
  }
  action {
    [zoox.sim.world.CreateEntityAction.ext] {
      entity {
        name: "new_object"
        body {
          pose {
            inertial {
              x: 100
              y: 100
              yaw: 0
            }
          }
          bounds {
            length: 1
            width: 1
            height: 1
          }
        }
        behavior {
          follow_road {
            velocity {
              linear_x: 1
            }
            next_road_id: 4
          }
        }
        dynamic_obstacle { type: PEDESTRIAN }
      }
    }
  }
}
trigger {
  name: "destroy_entity"
  enabled: false
  action {
    [zoox.sim.world.TurnTriggerOnOffAction.ext] {
      name: "destroy_entity"
      on: false
    }
  }
  action {
    [zoox.sim.world.DestroyEntityAction.ext] {
      target: "object_a"
    }
  }
}
utm_t_world {
  x: 76.46479089
  y: 5.464790895
  z: 0.0
}