diff --git a/content/geometry/object-classes.adoc b/content/geometry/object-classes.adoc
index c315c4cc..a884168d 100644
--- a/content/geometry/object-classes.adoc
+++ b/content/geometry/object-classes.adoc
@@ -53,6 +53,7 @@ NOTE: TODO: Discuss and document
 
 NOTE: TODO: Add information on geometry classes + segmentation?
 
+
 include::object-vehicle/vehicle-index.adoc[leveloffset=+1]
 include::object-human/human-index.adoc[leveloffset=+1]
 include::object-road-network/road-index.adoc[leveloffset=+1]
\ No newline at end of file
diff --git a/content/geometry/object-vehicle/vehicle-general.adoc b/content/geometry/object-vehicle/vehicle-general.adoc
new file mode 100644
index 00000000..479eac24
--- /dev/null
+++ b/content/geometry/object-vehicle/vehicle-general.adoc
@@ -0,0 +1,15 @@
+= General
+
+A vehicle is any machine that moves on land and is either self-propelled or attached to a self-propelled machine.
+Trailers or train wagons are considered separate vehicles.
+However, permanently attached parts, such as the front and rear of an articulated bus are considered a single vehicle.
+The vehicle class contains all land vehicles including wheeled or tracked vehicles.
+In this version of the standard, only wheeled vehicles are considered.
+
+The vehicle 3D geometry is generically structured into the node structure defined in the next section.
+The structure starts with a Root node as a parent to all other nodes in the structure
+A separation of vehicle parts into different groups enables movement or animation of parts, such as wheels and doors, positioning external light sources in a simulation and many other use-cases.
+Each node is an empty node representing the coordinate origin of the contained geometry.
+Meshes are to be placed in the corresponding group node.
+Not all node have to be present in every vehicle 3D model, as not all vehicle have parts to fit all groups.
+Additional group nodes may be added to facilitate additional use-cases, but they shall be integrated into the general structure of external/internal and static/dynamic groups and follow the naming convention.
diff --git a/content/geometry/object-vehicle/vehicle-index.adoc b/content/geometry/object-vehicle/vehicle-index.adoc
index 58b02c39..14223ff3 100644
--- a/content/geometry/object-vehicle/vehicle-index.adoc
+++ b/content/geometry/object-vehicle/vehicle-index.adoc
@@ -1,8 +1,7 @@
 = Vehicle structure
 
-include::vehicle-structure-general.adoc[leveloffset=+1]
-include::vehicle-structure-model-creation.adoc[leveloffset=+1]
-include::vehicle-structure-model-structure.adoc[leveloffset=+1]
+include::vehicle-general.adoc[leveloffset=+1]
+include::vehicle-structure.adoc[leveloffset=+1]
 include::vehicle-structure-notes.adoc[leveloffset=+1]
 
 
diff --git a/content/geometry/object-vehicle/vehicle-structure-general.adoc b/content/geometry/object-vehicle/vehicle-structure-general.adoc
deleted file mode 100644
index 75ffc3a4..00000000
--- a/content/geometry/object-vehicle/vehicle-structure-general.adoc
+++ /dev/null
@@ -1,3 +0,0 @@
-= General
-
-// General stuff
\ No newline at end of file
diff --git a/content/geometry/object-vehicle/vehicle-structure-model-creation.adoc b/content/geometry/object-vehicle/vehicle-structure-model-creation.adoc
deleted file mode 100644
index 7f45458f..00000000
--- a/content/geometry/object-vehicle/vehicle-structure-model-creation.adoc
+++ /dev/null
@@ -1,3 +0,0 @@
-= Model creation
-
-// Describe how the vehicle structure model is created
\ No newline at end of file
diff --git a/content/geometry/object-vehicle/vehicle-structure-model-structure.adoc b/content/geometry/object-vehicle/vehicle-structure-model-structure.adoc
deleted file mode 100644
index 771a4110..00000000
--- a/content/geometry/object-vehicle/vehicle-structure-model-structure.adoc
+++ /dev/null
@@ -1,1660 +0,0 @@
-= Model structure
-
-== Table of content
-
-[plantuml]
-----
-legend
-Vehicle structure
-|_ Grp_Vehicle_Part_<keyword>_<vehicle_part_idx> (T)
-  |_ Grp_Exterior
-    |_ Grp_Exterior_Static
-    |_ Grp_Exterior_Dynamic
-      |_ Grp_Wheel_<axle_idx>_<wheel_idx> (T)
-        |_ Grp_Wheel_<axle_idx>_<wheel_idx>_Steering
-        |_ Grp_Wheel_<axle_idx>_<wheel_idx>_Steering_Rotating (T)
-      |_ Grp_Door_Front_<door_front_idx> (T)
-      |_ Grp_Door_Left_<door_left_idx> (T)
-      |_ Grp_Door_Right_<door_right_idx> (T)
-      |_ Grp_Door_Rear_<door_rear_idx> (T)
-      |_ Grp_Door_Top_<door_top_idx> (T)
-      |_ Grp_Door_Bottom_<door_bottom_idx> (T)
-      |_ Grp_Light_Day_Left_<day_left_idx> (T)
-      |_ Grp_Light_Day_Right_<day_right_idx> (T)
-      |_ Grp_Light_Low_Beam_Left_<low_beam_left_idx> (T)
-      |_ Grp_Light_Low_Beam_Right_<low_beam_right_idx> (T)
-      |_ Grp_Light_High_Beam_Left_<high_beam_left_idx> (T)
-      |_ Grp_Light_High_Beam_Right_<high_beam_right_idx> (T)
-      |_ Grp_Light_Position_Left_<position_left_idx> (T)
-      |_ Grp_Light_Position_Right_<position_right_idx> (T)
-      |_ Grp_Light_Park_Left_<position_left_idx> (T)
-      |_ Grp_Light_Park_Right_<position_right_idx> (T)
-      |_ Grp_Light_Tail_Left_<tail_left_idx> (T)
-      |_ Grp_Light_Tail_Right_<tail_right_idx> (T)
-      |_ Grp_Light_Brake_Left_<brake_left_idx> (T)
-      |_ Grp_Light_Brake_Center_<brake_center_idx> (T)
-      |_ Grp_Light_Brake_Right_<brake_right_idx> (T)
-      |_ Grp_Light_Reverse_Left_<reverse_left_idx> (T)
-      |_ Grp_Light_Reverse_Right_<reverse_right_idx> (T)
-      |_ Grp_Light_Fog_Left_<fog_left_idx> (T)
-      |_ Grp_Light_Fog_Right_<fog_right_idx> (T)
-      |_ Grp_Light_Corner_Left_<corner_left_idx> (T)
-      |_ Grp_Light_Corner_Right_<corner_right_idx> (T)
-      |_ Grp_Light_Indicator_Left_<indicator_left_idx> (T)
-      |_ Grp_Light_Indicator_Right_<indicator_right_idx> (T)
-      |_ Grp_Number_Plate_<number_plate_idx> (T)
-      |_ Grp_Light_Number_Plate_<number_plate_light_idx> (T)
-      |_ Grp_Light_Warning_<warning_idx> (T)
-      |_ Grp_Convertible_Top
-      |_ Grp_Sensors (T)
-      |_ Grp_Side_Mirror_Mounting_Left_<side_mirror_mounting_left_idx> (T)
-      |_ Grp_Side_Mirror_View_Left_<side_mirror_view_left_idx> (T)
-      |_ Grp_Side_Mirror_Mounting_Right_<side_mirror_mounting_right_idx> (T)
-      |_ Grp_Side_Mirror_View_Right_<side_mirror_view_right_idx> (T)
-      |_ Grp_Blindspot_Mirror_Mounting_<blindspot_mirror_mounting_idx> (T)
-      |_ Grp_Blindspot_Mirror_View_<blindspot_mirror_view_idx> (T)
-  |_ Grp_Interior
-    |_ Grp_Interior_Static
-    |_ Grp_Interior_Dynamic
-      |_ Grp_Steering_Wheel (T)
-      |_ Grp_Eyepoint_<eyepoint_idx> (T)
-      |_ Grp_Rearview_Mirror_Mounting_<rearview_mirror_mounting_idx> (T)
-      |_ Grp_Rearview_Mirror_View_<rearview_mirror_view_idx> (T)
-      |_ Grp_Seat_<seat_idx> (T)
-end legend
-----
-
-== Grp_Vehicle_Part_<keyword><vehicle_part_idx> (T) 
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Exterior
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Exterior_Static
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Exterior_Dynamic
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Wheel_<axle_idx>_<wheel_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Wheel_Steering_<axle_idx>_<wheel_idx>
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Wheel_Steering_Rotating_<axle_idx>_<wheel_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Door_Front_<door_front_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Door_Left_<door_left_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Door_Right_(door_right_idx) (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Door_Rear_<door_rear_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Door_Top_<door_top_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Door_Bottom_<door_bottom_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Light_Day_Left_<day_left_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Light_Day_Right_<day_right_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Light_Low_Beam_Left_<low_beam_left_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Light_Low_Beam_Right_<low_beam_right_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Light_High_Beam_Left_<high_beam_left_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Light_High_Beam_Right_<high_beam_right_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Light_Position_Left_<position_left_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Light_Position_Right_<position_right_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Light_Park_Left_<position_left_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Light_Park_Right_<position_right_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Light_Tail_Left_<tail_left_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Light_Tail_Right_<tail_right_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Light_Brake_Left_<brake_left_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Light_Brake_Center_<brake_center_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Light_Brake_Right_<brake_right_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Light_Reverse_Left_<reverse_left_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Light_Reverse_Right_<reverse_right_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Light_Fog_Left_<fog_left_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Light_Fog_Right_<fog_right_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Light_Corner_Left_<corner_left_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Light_Corner_Right_<corner_right_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Light_Indicator_Left_<indicator_left_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Light_Indicator_Right_<indicator_right_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Number_Plate_<number_plate_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Light_Number_Plate_<number_plate_light_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Light_Warning_<warning_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Convertible_Top
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Sensors (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Side_Mirror_Mounting_Left_<side_mirror_mounting_left_idx> (T) 
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Side_Mirror_Mounting_Right_<side_mirror_mounting_right_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Side_Mirror_View_Left_<side_mirror_view_left_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Side_Mirror_View_Right_<side_mirror_view_right_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Blindspot_Mirror_Mounting_<blindspot_mirror_mounting_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Blindspot_Mirror_View_<blindspot_mirror_view_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Interior
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Interior_Static
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Interior_Dynamic
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Steering_Wheel (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Eyepoint_<eyepoint_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Rearview_Mirror_Mounting_<rearview_mirror_mounting_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Rearview_Mirror_View_<rearview_mirror_view_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
-
-== Grp_Seat_<seat_idx> (T)
-
-Add a description
-
-.<Table title>
-[%header, cols="20, 80"]
-|===
-
-2+^| <Header>
-
-| *Origin*
-| ...
-
-| *x-axis*
-| ...
-
-| *y-axis*
-| ...
-
-| *z-axis*
-| ...
-|===
-
-
-Add a figure.
-
-.<Figure caption>
-//image::images/Vehicle_Structure_Door_Coord_Frame.svg[width=70%, scalewidth=10cm]
diff --git a/content/geometry/object-vehicle/vehicle-structure-notes.adoc b/content/geometry/object-vehicle/vehicle-structure-notes.adoc
index 0fb4899a..40ba8718 100644
--- a/content/geometry/object-vehicle/vehicle-structure-notes.adoc
+++ b/content/geometry/object-vehicle/vehicle-structure-notes.adoc
@@ -1,37 +1,7 @@
 = Notes from Miro board
 
-== General structure
-* The structure can be extended by custom groups for additional use-cases. Custom groups shall follow the general structure (e.g. grouping into static/dynamic, interior/exterior).
-* Vehicle Parts are for moving entire parts of the vehicle, e.g. in a hinged bus or construction vehicle with a hinge (articulated vehicles).
-When a vehicle part can be detached, like a trailer, it is to be treated as a separate vehicle and not a vehicle part.
-* Don't include windows in hierarchy for now
-* General note: Grp_* Nodes are empty nodes  
-
-== Nodes 
-
-* `axle_idx`: Follow https://opensimulationinterface.github.io/osi-antora-generator/asamosi/latest/gen/structosi3_1_1MovingObject_1_1VehicleAttributes_1_1WheelData.html#a094de989f5a2aab080f9a65f0feb3867[OSI Definition] counting from front to rear starting with 0
-* `wheel_idx`: Follow https://opensimulationinterface.github.io/osi-antora-generator/asamosi/latest/gen/structosi3_1_1MovingObject_1_1VehicleAttributes_1_1WheelData.html#a094de989f5a2aab080f9a65f0feb3867[OSI definition] counting per axle from right to left (in positive y-direction)
-* `door_*_idx`: Counting per side from front to rear and right to left (in positive y-direction)
-* trunk, front-trunk, engine hood (lid) etc. are considered doors
 * `convertible_top`: Indicate default mesh (open, closed etc.) in the Asset File
 * Enable switching on/off convertible top from within the asset file
-* Warning lights incorporate emergency ligths, flashing lights, hazard lights,...
-* `Grp_Sensors` can be used to position geometry of sensors, view cones, rays etc., but sensor geometry can also be part of the chassis/body
-*  https://github.com/KhronosGroup/glTF/issues/2005[Discussion about switch nodes in glTF]
+* https://github.com/KhronosGroup/glTF/issues/2005[Discussion about switch nodes in glTF]
 * Should add nodes for trailer coupling devices, so that you know where to attach (MT)
-* Any need for moving pedals or shift levers, or the levers on the steering wheel? (SG)
-* Interior is separated from exterior to enable switching or exchanging it (LF)
-* Door and sunroof interior parts would be defined as child nodes of the exterior node for the door (LF)
-* Trailers and train wagons are treated as separate vehicles (LF)
-* MT: What about buses with middle axis? More complex geometries/functions? Multiple Trailers? movable Cabins?
-* Each vehicle part has its own transform: 
-** Grp_Vehicle_Part_<part_idx>
-*** Grp_Exterior
-*** Grp_Interior
-* Grp_Vehicle_Part_keyword_vehicle_part_idx
-** The structure can be extended by custom groups for additional use-cases. Custom groups shall follow the general structure (e.g. grouping into static/dynamic, interior/exterior).
-** Each vehicle part has its own transform .
-** Vehicle Parts are for moving entire parts of the vehicle, e.g. in a hinged bus or construction vehicle with a hinge (articulated vehicles). When a vehicle part can be detached, like a trailer, it is to be treated as a separate vehicle and not a vehicle part. 
-*** Comment LF: Trailers and train wagons are treated as separate vehicles
-*** Comment MT: MT: What about buses with middle axis? More complex geometries/functions? Multiple Trailers? movable Cabins?  
-*** Should add nodes for trailer coupling devices, so that you know where to attach (MT)  
\ No newline at end of file
+* Any need for moving pedals or shift levers, or the levers on the steering wheel? (SG)
\ No newline at end of file
diff --git a/content/geometry/object-vehicle/vehicle-structure.adoc b/content/geometry/object-vehicle/vehicle-structure.adoc
new file mode 100644
index 00000000..3f66d2b4
--- /dev/null
+++ b/content/geometry/object-vehicle/vehicle-structure.adoc
@@ -0,0 +1,1615 @@
+= Model structure
+
+:home-path: ../..
+:imagesdir: {home-path}/_images
+:includedir: {home-path}/_images
+
+== Table of content
+
+[plantuml]
+----
+legend
+Root
+|_ Grp_Vehicle_Part_<part_idx>_<keyword>
+  |_ Grp_Exterior_<part_idx>
+    |_ Grp_Exterior_Static_<part_idx>
+    |_ Grp_Exterior_Dynamic_<part_idx>
+      |_ Grp_Wheel_<part_idx>_<axle_idx>_<wheel_idx>
+        |_ Grp_Wheel_Steering_<part_idx>_<axle_idx>_<wheel_idx>
+        |_ Grp_Wheel_Steering_Rotating_<part_idx>_<axle_idx>_<wheel_idx>
+      |_ Grp_Door_Front_<part_idx>_<door_front_idx>
+      |_ Grp_Door_Left_<part_idx>_<door_left_idx>
+      |_ Grp_Door_Right_<part_idx>_<door_right_idx>
+      |_ Grp_Door_Rear_<part_idx>_<door_rear_idx>
+      |_ Grp_Door_Top_<part_idx>_<door_top_idx>
+      |_ Grp_Door_Bottom_<part_idx>_<door_bottom_idx>
+      |_ Grp_Light_Day_Left_<part_idx>_<day_left_idx>
+      |_ Grp_Light_Day_Right_<part_idx>_<day_right_idx>
+      |_ Grp_Light_Low_Beam_Left_<part_idx>_<low_beam_left_idx>
+      |_ Grp_Light_Low_Beam_Right_<part_idx>_<low_beam_right_idx>
+      |_ Grp_Light_High_Beam_Left_<part_idx>_<high_beam_left_idx>
+      |_ Grp_Light_High_Beam_Right_<part_idx>_<high_beam_right_idx>
+      |_ Grp_Light_Corner_Left_<part_idx>_<corner_left_idx>
+      |_ Grp_Light_Corner_Right_<part_idx>_<corner_right_idx>
+      |_ Grp_Light_Position_Left_<part_idx>_<position_left_idx>
+      |_ Grp_Light_Position_Right_<part_idx>_<position_right_idx>
+      |_ Grp_Light_Park_Left_<part_idx>_<park_left_idx>
+      |_ Grp_Light_Park_Right_<part_idx>_<park_right_idx>
+      |_ Grp_Light_Indicator_Left_<part_idx>_<indicator_left_idx>
+      |_ Grp_Light_Indicator_Right_<part_idx>_<indicator_right_idx>
+      |_ Grp_Light_License_Plate_<part_idx>_<license_plate_light_idx>
+      |_ Grp_Light_Tail_Left_<part_idx>_<tail_left_idx>
+      |_ Grp_Light_Tail_Right_<part_idx>_<tail_right_idx>
+      |_ Grp_Light_Brake_Left_<part_idx>_<brake_left_idx>
+      |_ Grp_Light_Brake_Center_<part_idx>_<brake_center_idx>
+      |_ Grp_Light_Brake_Right_<part_idx>_<brake_right_idx>
+      |_ Grp_Light_Reverse_Left_<part_idx>_<reverse_left_idx>
+      |_ Grp_Light_Reverse_Right_<part_idx>_<reverse_right_idx>
+      |_ Grp_Light_Fog_Left_<part_idx>_<fog_left_idx>
+      |_ Grp_Light_Fog_Right_<part_idx>_<fog_right_idx>
+      |_ Grp_Light_Warning_<part_idx>_<warning_idx>
+      |_ Grp_Mirror_Side_Mounting_Left_<part_idx>_<side_mirror_mounting_left_idx>
+      |_ Grp_Mirror_Side_View_Left_<part_idx>_<side_mirror_view_left_idx>
+      |_ Grp_Mirror_Side_Mounting_Right_<part_idx>_<side_mirror_mounting_right_idx>
+      |_ Grp_Mirror_Side_View_Right_<part_idx>_<side_mirror_view_right_idx>
+      |_ Grp_Mirror_Blindspot_Mounting_<part_idx>_<blindspot_mirror_mounting_idx>
+      |_ Grp_Mirror_Blindspot_View_<part_idx>_<blindspot_mirror_view_idx>
+      |_ Grp_License_Plate_<part_idx>_<license_plate_idx>
+      |_ Grp_Convertible_Top_<part_idx>
+      |_ Grp_Sensor_<part_idx>_<sensor_idx>
+  |_ Grp_Interior_<part_idx>
+    |_ Grp_Interior_Static_<part_idx>
+    |_ Grp_Interior_Dynamic_<part_idx>
+      |_ Grp_Steering_Wheel_<part_idx>
+      |_ Grp_Eyepoint_<part_idx>_<eyepoint_idx>
+      |_ Grp_Mirror_Rearview_<part_idx>_Mounting_<rearview_mirror_mounting_idx>
+      |_ Grp_Mirror_Rearview_View_<part_idx>_<rearview_mirror_view_idx>
+      |_ Grp_Seat_<part_idx>_<seat_idx>
+end legend
+----
+
+== Grp_Vehicle_Part_<part_idx>_<keyword> 
+
+A vehicle part is a large structure of the vehicle (part), that moves independently from other parts of the same vehicle.
+This mainly applies to articulated vehicles, e.g. a front loader with a hinged axis or an articulated bus with a hinge in the middle.
+When a vehicle part can be detached, like a trailer, it is to be treated as a separate object and not a vehicle part.
+
+Standard vehicles only have one part and no keyword.
+Therefore, only one Grp_Vehicle_Part exists with the name `Grp_Vehicle_Part_0`.
+
+The `<part_idx>` must be added to all sub-nodes, as multiple nodes with the same name in different vehicle parts are not possible.
+There cannot be a node `Grp_Exterior` in both `Grp_Vehicle_Part_0` and `Grp_Vehicle_Part_1`.
+
+NOTE: Define the origin of the vehicle (part)
+
+NOTE: Add description and examples for keywords
+
+NOTE: Add a figure visualizing e.g. a hinged bus to explain what vehicle parts are.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| ...
+
+| *x-axis*
+| Collinear with the vehicle longitudinal axis, pointing forwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+== Grp_Exterior_<part_idx>
+
+This group contains all elements of the exterior of the vehicle (part).
+
+This group typically does not move in the simulation and therefore does not have its own transforms.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Origin of the vehicle (part)
+
+| *x-axis*
+| Collinear with the vehicle longitudinal axis, pointing forwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+== Grp_Exterior_Static_<part_idx>
+
+This group contains all static elements of the exterior of the vehicle (part).
+Static elements are geometry structures that have a fixed position and orientation relative to the origin on the vehicle (part) throughout a simulation.
+They also do not change their state during the simulation, therefore lights are considered dynamic.
+
+This group typically does not move in the simulation and therefore does not have its own transforms.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Origin of the vehicle (part)
+
+| *x-axis*
+| Collinear with the vehicle longitudinal axis, pointing forwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+== Grp_Exterior_Dynamic_<part_idx>
+
+This group contains all dynamic elements of the exterior of the vehicle (part).
+Dynamic elements are geometry structures which position and orientation relative to the origin on the vehicle (part) might change throughout a simulation.
+They may also change their state during the simulation, therefore lights are considered dynamic.
+
+This group typically does not move in the simulation and therefore does not have its own transforms.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Origin of the vehicle (part)
+
+| *x-axis*
+| Collinear with the vehicle longitudinal axis, pointing forwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Wheel_<part_idx>_<axle_idx>_<wheel_idx>
+
+This group contains all geometries of one wheel assembly.
+This may include tire, rim, brake caliper etc.
+
+The `<axle_idx>` denotes the index of the axle the wheel is mounted to, counting from the front to the rear, starting with 0.
+The `<wheel_idx>` denotes the index of the wheel on the specified axle, counting from right to left (in positive y direction), starting with 0.
+Example: The wheel on the front left of a standard vehicle would be `Grp_Wheel_0_1`.
+
+Steering of the wheel is implemented by a rotation around the z-axis.
+Wheel camber is defined by a rotation around the x-axis.
+Suspension deflection is represented by a translation along the z-axis.
+Zero rotation and and translation around all axles are defined in neutral load conditions.
+In the 3D model, both caster and camber angles are neglected.
+
+image::Grp_Wheel.svg[,1100]
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Geometric center of the wheel
+
+| *x-axis*
+| Collinear with the vehicle longitudinal axis, pointing forwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Wheel_Steering_<part_idx>_<axle_idx>_<wheel_idx>
+
+This group contains all components of the wheel assembly, that follow the steering motion but not the rotation of the wheel, e.g. brake calipers.
+
+The indices are the same as in the parent group.
+
+This group typically does not move independently in the simulation as it moves with the parent transforms.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Geometric center of the wheel
+
+| *x-axis*
+| Collinear with the vehicle longitudinal axis, pointing forwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Wheel_Steering_Rotating_<part_idx>_<axle_idx>_<wheel_idx>
+
+This group contains all components of the wheel assembly, that follow the steering motion as well as the rotation of the wheel, e.g. tire and rim.
+
+The indices are the same as in the parent group.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Geometric center of the wheel
+
+| *x-axis*
+| Collinear with the vehicle longitudinal axis, pointing towards the door
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Door_Front_<part_idx>_<door_front_idx>
+
+The group contains all components of a door in the front of the vehicle (part).
+This includes e.g. the engine cover.
+This also includes the interior parts of the door, since they are moved as one unit.
+
+The `<door_front_idx>` is the index for all doors in the front counting from right to left (in positive y direction), starting with 0.
+
+image::Grp_Door_Front.svg[,1100]
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Geometric center of the virtual hinge axis
+
+| *x-axis*
+| Perpendicular to the z-axis, pointing towards the door
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Concentric and coaxial to the virtual hinge axis
+|===
+
+
+== Grp_Door_Left_<part_idx>_<door_left_idx>
+
+The group contains all components of a door on the left side of the vehicle (part).
+This also includes the interior parts of the door, since they are moved as one unit.
+
+The `<door_left_idx>` is the index for all doors on the left counting from front to rear, starting with 0.
+
+image::Grp_Door_Left[,1100]
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Geometric center of the virtual hinge axis
+
+| *x-axis*
+| Perpendicular to the z-axis, pointing towards the door
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Concentric and coaxial to the virtual hinge axis
+|===
+
+
+== Grp_Door_Right_<part_idx>_<door_right_idx>
+
+The group contains all components of a door on the right side of the vehicle (part).
+This also includes the interior parts of the door, since they are moved as one unit.
+
+The `<door_right_idx>` is the index for all doors on the right counting from front to rear, starting with 0.
+
+image::Grp_Door_Right[,1100]
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Geometric center of the virtual hinge axis
+
+| *x-axis*
+| Perpendicular to the z-axis, pointing towards the door
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Concentric and coaxial to the virtual hinge axis
+|===
+
+
+== Grp_Door_Rear_<part_idx>_<door_rear_idx>
+
+The group contains all components of a door in the rear of the vehicle (part).
+This includes e.g. the trunklid.
+This also includes the interior parts of the door, since they are moved as one unit.
+
+The `<door_rear_idx>` is the index for all doors in the rear counting from right to left (in positive y direction), starting with 0.
+
+image::Grp_Door_Rear.svg[,1100]
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Geometric center of the virtual hinge axis
+
+| *x-axis*
+| Perpendicular to the z-axis, pointing towards the door
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Concentric and coaxial to the virtual hinge axis
+|===
+
+
+== Grp_Door_Top_<part_idx>_<door_top_idx>
+
+The group contains all components of a door on the top of the vehicle (part).
+This also includes the interior parts of the door, since they are moved as one unit.
+
+The `<door_top_idx>` is the index for all doors on the top counting from front to rear, starting with 0.
+
+image::Grp_Door_Top.svg[, 1100]
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Geometric center of the virtual hinge axis
+
+| *x-axis*
+| Perpendicular to the z-axis, pointing towards the door
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Concentric and coaxial to the virtual hinge axis
+|===
+
+
+== Grp_Door_Bottom_<part_idx>_<door_bottom_idx>
+
+The group contains all components of a door on the bottom of the vehicle (part).
+This also includes the interior parts of the door, since they are moved as one unit.
+
+The `<door_bottom_idx>` is the index for all doors on the bottom counting from front to rear, starting with 0.
+
+NOTE: Add a figure with a hatch on the bottom.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Geometric center of the virtual hinge axis
+
+| *x-axis*
+| Perpendicular to the z-axis, pointing forwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Concentric and coaxial to the virtual hinge axis
+|===
+
+
+== Grp_Light_Day_Left_<part_idx>_<day_left_idx>
+
+This group contains all parts of a daytime running light on the left side of the vehicle (part).
+
+The `<day_left_idx>` is the index for all daytime running lights on the left counting from right to left (in positive y direction), starting with 0.
+
+//NOTE: Add a figure. This figure might ba applicable to all lights on the front left. I don't think we have to distinguish in the figures between the different kinds of lights.
+image::Grp_Light_Day_Left.svg[,1100]
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the light element
+
+| *x-axis*
+| Pointing towards the main light emission, usually forwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Light_Day_Right_<part_idx>_<day_right_idx>
+
+This group contains all parts of a daytime running light on the right side of the vehicle (part).
+
+The `<day_left_idx>` is the index for all daytime running lights on the right counting from right to left (in positive y direction), starting with 0.
+
+//NOTE: Add a figure. This figure might be applicable to all lights on the front right. I don't think we have to distinguish in the figures between the different kinds of lights.
+image::Grp_Light_Day_Right.svg[,1100]
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the light element
+
+| *x-axis*
+| Pointing towards the main light emission, usually forwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Light_Low_Beam_Left_<part_idx>_<low_beam_left_idx>
+
+This group contains all parts of a low beam light on the left side of the vehicle (part).
+
+The `<low_beam_left_idx>` is the index for all low beam lights on the left counting from right to left (in positive y direction), starting with 0.
+
+image::Grp_Light_Day_Left.svg[,1100]
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the light element
+
+| *x-axis*
+| Pointing towards the main light emission, usually forwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Light_Low_Beam_Right_<part_idx>_<low_beam_right_idx>
+
+This group contains all parts of a low beam light on the right side of the vehicle (part).
+
+The `<low_beam_right_idx>` is the index for all low beam lights on the right counting from right to left (in positive y direction), starting with 0.
+
+image::Grp_Light_Day_Right.svg[,1100]
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the light element
+
+| *x-axis*
+| Pointing towards the main light emission, usually forwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Light_High_Beam_Left_<part_idx>_<high_beam_left_idx>
+
+This group contains all parts of a high beam light on the left side of the vehicle (part).
+
+The `<high_beam_left_idx>` is the index for all high beam lights on the left counting from right to left (in positive y direction), starting with 0.
+
+image::Grp_Light_Day_Left.svg[,1100]
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the light element
+
+| *x-axis*
+| Pointing towards the main light emission, usually forwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Light_High_Beam_Right_<part_idx>_<high_beam_right_idx>
+
+This group contains all parts of a high beam light on the right side of the vehicle (part).
+
+The `<high_beam_right_idx>` is the index for all high beam lights on the right counting from right to left (in positive y direction), starting with 0.
+
+image::Grp_Light_Day_Right.svg[,1100]
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the light element
+
+| *x-axis*
+| Pointing towards the main light emission, usually forwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Light_Corner_Left_<part_idx>_<corner_left_idx>
+
+This group contains all parts of a corner light on the left side of the vehicle (part).
+A corner light is a typically white light for lateral illumination in the direction of an intended turn or lane change.
+
+The `<corner_left_idx>` is the index for all corner lights on the left counting from right to left (in positive y direction), starting with 0.
+
+image::Grp_Light_Day_Left.svg[,1100]
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the light element
+
+| *x-axis*
+| Pointing towards the main light emission in neutral position
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Light_Corner_Right_<part_idx>_<corner_right_idx>
+
+This group contains all parts of a corner light on the right side of the vehicle (part).
+A corner light is a typically white light for lateral illumination in the direction of an intended turn or lane change.
+
+The `<corner_right_idx>` is the index for all corner lights on the right counting from right to left (in positive y direction), starting with 0.
+
+image::Grp_Light_Day_Right.svg[,1100]
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the light element
+
+| *x-axis*
+| Pointing towards the main light emission in neutral position
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Light_Position_Left_<part_idx>_<position_left_idx>
+
+This group contains all parts of a position light on the left side of the vehicle (part).
+Position lights are typically smaller, low-intensity, orange lights.
+
+The `<position_left_idx>` is the index for all position lights on the left counting from right to left (in positive y direction), and from the front to the rear, starting with 0.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the light element
+
+| *x-axis*
+| Pointing towards the main light emission
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Light_Position_Right_<part_idx>_<position_right_idx>
+
+This group contains all parts of a position light on the right side of the vehicle (part).
+Position lights are typically smaller, low-intensity, orange lights.
+
+The `<position_right_idx>` is the index for all position lights on the right counting from right to left (in positive y direction), and from the front to the rear, starting with 0.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the light element
+
+| *x-axis*
+| Pointing towards the main light emission
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Light_Park_Left_<part_idx>_<park_left_idx>
+
+This group contains all parts of a parking light on the left side of the vehicle (part).
+
+The `<park_left_idx>` is the index for all parking lights on the left counting from right to left (in positive y direction), and from the front to the rear, starting with 0.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the light element
+
+| *x-axis*
+| Pointing towards the main light emission, usually forwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Light_Park_Right_<part_idx>_<park_right_idx>
+
+This group contains all parts of a parking light on the right side of the vehicle (part).
+
+The `<park_right_idx>` is the index for all parking lights on the right counting from right to left (in positive y direction), and from the front to the rear, starting with 0.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the light element
+
+| *x-axis*
+| Pointing towards the main light emission, usually forwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Light_Indicator_Left_<part_idx>_<indicator_left_idx>
+
+This group contains all parts of an indicator light on the left side of the vehicle (part).
+
+The `<indicator_left_idx>` is the index for all indicator lights on the left counting from right to left (in positive y direction), and from the front to the rear, starting with 0.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the light element
+
+| *x-axis*
+| Pointing towards the main light emission
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Light_Indicator_Right_<part_idx>_<indicator_right_idx>
+
+This group contains all parts of an indicator light on the left side of the vehicle (part).
+
+The `<indicator_right_idx>` is the index for all indicator lights on the right counting from right to left (in positive y direction), and from the front to the rear, starting with 0.
+
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the light element
+
+| *x-axis*
+| Pointing towards the main light emission
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Light_License_Plate_<part_idx>_<license_plate_light_idx>
+
+This group contains all parts of a license plate light of the vehicle (part).
+
+The `<license_plate_light_idx>` is the index for all license plate lights counting from right to left (in positive y direction), and from the front to the rear, starting with 0.
+
+NOTE: Add a figure for the exemplary license plate light on the rear of the vehicle (part).
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the light element
+
+| *x-axis*
+| Pointing towards the main light emission
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Light_Tail_Left_<part_idx>_<tail_left_idx>
+
+This group contains all parts of a tail light on the left side of the vehicle (part).
+
+The `<tail_left_idx>` is the index for all tail lights on the left counting from right to left (in positive y direction), starting with 0.
+
+NOTE: Add a figure. This figure might be applicable to all lights on the rear left. I don't think we have to distinguish in the figures between the different kinds of lights.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the light element
+
+| *x-axis*
+| Pointing towards the main light emission, usually backwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Light_Tail_Right_<part_idx>_<tail_right_idx>
+
+This group contains all parts of a tail light on the right side of the vehicle (part).
+
+The `<tail_right_idx>` is the index for all tail lights on the right counting from right to left (in positive y direction), starting with 0.
+
+NOTE: Add a figure. This figure might be applicable to all lights on the rear right. I don't think we have to distinguish in the figures between the different kinds of lights.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the light element
+
+| *x-axis*
+| Pointing towards the main light emission, usually backwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Light_Brake_Left_<part_idx>_<brake_left_idx>
+
+This group contains all parts of a brake light on the left side of the vehicle (part).
+
+The `<brake_left_idx>` is the index for all brake lights on the left counting from right to left (in positive y direction), starting with 0.
+
+NOTE: Add figure from tail light.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the light element
+
+| *x-axis*
+| Pointing towards the main light emission, usually backwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Light_Brake_Center_<part_idx>_<brake_center_idx>
+
+This group contains all parts of a brake light in the center of the vehicle (part).
+
+The `<brake_center_idx>` is the index for all brake lights in the center counting from right to left (in positive y direction), starting with 0.
+
+NOTE: Add a figure.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the light element
+
+| *x-axis*
+| Pointing towards the main light emission, usually backwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Light_Brake_Right_<part_idx>_<brake_right_idx>
+
+This group contains all parts of a brake light on the right side of the vehicle (part).
+
+The `<brake_right_idx>` is the index for all brake lights on the right counting from right to left (in positive y direction), starting with 0.
+
+NOTE: Add figure from tail light.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the light element
+
+| *x-axis*
+| Pointing towards the main light emission, usually backwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Light_Reverse_Left_<part_idx>_<reverse_left_idx>
+
+This group contains all parts of a reverse light on the left side of the vehicle (part).
+
+The `<reverse_left_idx>` is the index for all reverse lights on the left counting from right to left (in positive y direction), starting with 0.
+
+NOTE: Add figure from tail light.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the light element
+
+| *x-axis*
+| Pointing towards the main light emission, usually backwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Light_Reverse_Right_<part_idx>_<reverse_right_idx>
+
+This group contains all parts of a reverse light on the right side of the vehicle (part).
+
+The `<reverse_right_idx>` is the index for all reverse lights on the right counting from right to left (in positive y direction), starting with 0.
+
+NOTE: Add figure from tail light.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the light element
+
+| *x-axis*
+| Pointing towards the main light emission, usually backwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Light_Fog_Left_<part_idx>_<fog_left_idx>
+
+This group contains all parts of a fog light on the left side of the vehicle (part).
+
+The `<fog_left_idx>` is the index for all fog lights on the left counting from right to left (in positive y direction), starting with 0.
+
+NOTE: Add figure from tail light.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the light element
+
+| *x-axis*
+| Pointing towards the main light emission, usually backwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Light_Fog_Right_<part_idx>_<fog_right_idx>
+
+This group contains all parts of a fog light on the right side of the vehicle (part).
+
+The `<fog_right_idx>` is the index for all fog lights on the right counting from right to left (in positive y direction), starting with 0.
+
+NOTE: Add figure from tail light.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the light element
+
+| *x-axis*
+| Pointing towards the main light emission, usually backwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Light_Warning_<part_idx>_<warning_idx>
+
+This group contains all parts of a warning light of the vehicle (part).
+Warning lights can be all kinds of emergency lights, hazard lights, etc.
+
+The `<warning_idx>` is the index for all warning lights counting from right to left (in positive y direction), and from the front to the rear, starting with 0.
+
+NOTE: Add a figure on an exemplary rotating warning light on the roof the vehicle (part).
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the light element
+
+| *x-axis*
+| Pointing towards the main light emission, or forwards for rotating lights
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Mirror_Side_Mounting_Left_<part_idx>_<side_mirror_mounting_left_idx> 
+
+This group contains all parts of a mirror mounting on the left side of the vehicle (part).
+
+The `<side_mirror_mounting_left_idx>` is the index for all mirror mountings on the left counting from right to left (in positive y direction), and from the front to the rear, starting with 0.
+
+NOTE: Add a figure.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Base of the mirror mounting
+
+| *x-axis*
+| Collinear with the vehicle longitudinal axis, pointing forwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Mirror_Side_View_Left_<part_idx>_<side_mirror_view_left_idx>
+
+This group contains all parts of a mirror without the housing on the left side of the vehicle (part).
+
+The `<side_mirror_view_left_idx>` is the index for all mirrors on the left counting from right to left (in positive y direction), and from the front to the rear, starting with 0.
+
+NOTE: Add a figure.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the mirror surface
+
+| *x-axis*
+| Pointing outwards from the front of the mirror
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards along the mirror face
+|===
+
+
+== Grp_Mirror_Side_Mounting_Right_<part_idx>_<side_mirror_mounting_right_idx>
+
+This group contains all parts of a mirror mounting on the right side of the vehicle (part).
+
+The `<side_mirror_mounting_right_idx>` is the index for all mirror mountings on the right counting from right to left (in positive y direction), and from the front to the rear, starting with 0.
+
+NOTE: Add a figure.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Base of the mirror mounting
+
+| *x-axis*
+| Collinear with the vehicle longitudinal axis, pointing forwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Mirror_Side_View_Right_<part_idx>_<side_mirror_view_right_idx>
+
+This group contains all parts of a mirror without the housing on the right side of the vehicle (part).
+
+The `<side_mirror_view_right_idx>` is the index for all mirrors on the right counting from right to left (in positive y direction), and from the front to the rear, starting with 0.
+
+NOTE: Add a figure.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the mirror surface
+
+| *x-axis*
+| Pointing outwards from the front of the mirror
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards along the mirror face
+|===
+
+
+== Grp_Mirror_Blindspot_Mounting_<part_idx>_<blindspot_mirror_mounting_idx>
+
+This group contains all parts of a blindspot mirror mounting of the vehicle (part).
+
+The `<blindspot_mirror_mounting_idx>` is the index for all blindspot mountings counting from right to left (in positive y direction), and from the front to the rear, starting with 0.
+
+NOTE: Add a figure.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Base of the mirror mounting
+
+| *x-axis*
+| Collinear with the vehicle longitudinal axis, pointing forwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Mirror_Blindspot_View_<part_idx>_<blindspot_mirror_view_idx>
+
+This group contains all parts of a mirror without the housing of the vehicle (part).
+
+The `<side_mirror_view_right_idx>` is the index for all blindspot mirrors counting from right to left (in positive y direction), and from the front to the rear, starting with 0.
+
+NOTE: Add a figure.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the mirror surface
+
+| *x-axis*
+| Pointing outwards from the front of the mirror
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards along the mirror face
+|===
+
+
+== Grp_License_Plate_<part_idx>_<license_plate_idx>
+
+This group contains all parts of a license plate of the vehicle (part).
+
+The `<license_plate_idx>` is the index for all license plates counting from right to left (in positive y direction), and from the front to the rear, starting with 0.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the plate
+
+| *x-axis*
+| Pointing outwards from the front of the plate
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Convertible_Top_<part_idx>
+
+This group contains all parts of a convertible top of the vehicle (part).
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Origin of the vehicle (part)
+
+| *x-axis*
+| Collinear with the vehicle longitudinal axis, pointing forwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Sensor_<part_idx>_<sensor_idx>
+
+This group contains all parts of a perception sensor of the vehicle (part).
+The geometry of a sensor can alternatively be placed in the Grp_Exterior_Static.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Origin of the sensor
+
+| *x-axis*
+| Pointing outwards from the sensor in the direction of its longitudinal axis
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing upwards in sensor coordinates
+|===
+
+
+== Grp_Interior_<part_idx>
+
+This group contains all elements of the interior of the vehicle (part).
+The interior is separated form the exterior to enable disabling or exchanging it in the simulation.
+
+This group typically does not move in the simulation and therefore does not have its own transforms.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Origin of the vehicle (part)
+
+| *x-axis*
+| Collinear with the vehicle longitudinal axis, pointing forwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Interior_Static_<part_idx>
+
+This group contains all static elements of the interior of the vehicle (part).
+Static elements are geometry structures that have a fixed position and orientation relative to the origin on the vehicle (part) throughout a simulation.
+They also do not change their state during the simulation, therefore lights are considered dynamic.
+
+This group typically does not move in the simulation and therefore does not have its own transforms.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Origin of the vehicle (part)
+
+| *x-axis*
+| Collinear with the vehicle longitudinal axis, pointing forwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Interior_Dynamic_<part_idx>
+
+This group contains all dynamic elements of the exterior of the vehicle (part).
+Dynamic elements are geometry structures which position and orientation relative to the origin on the vehicle (part) might change throughout a simulation.
+They may also change their state during the simulation, therefore lights are considered dynamic.
+
+This group typically does not move in the simulation and therefore does not have its own transforms.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Origin of the vehicle (part)
+
+| *x-axis*
+| Collinear with the vehicle longitudinal axis, pointing forwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Steering_Wheel_<part_idx>
+
+This group contains all elements of the steering wheel of the vehicle (part).
+
+NOTE: Add a figure.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the steering wheel
+
+| *x-axis*
+| Collinear with the steering column, pointing towards the axis
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards in neutral position
+|===
+
+
+== Grp_Eyepoint_<part_idx>_<eyepoint_idx>
+
+This group contains is an empty element containing the origin of an average passenger of the vehicle (part).
+
+The `<eyepoint_idx>` is the index for all eye points counting from right to left (in positive y direction), and from the front to the rear, starting with 0.
+
+NOTE: Add a figure.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the eye view point
+
+| *x-axis*
+| Collinear with the view direction
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards in neutral position
+|===
+
+
+== Grp_Mirror_Rearview_Mounting_<part_idx>_<rearview_mirror_mounting_idx>
+
+This group contains all parts of a rearview mirror mounting of the vehicle (part).
+
+The `<rearview_mirror_mounting_idx>` is the index for all rearview mirrors mounting counting from right to left (in positive y direction), and from the front to the rear, starting with 0.
+
+NOTE: Add a figure.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Base of the mirror mounting
+
+| *x-axis*
+| Collinear with the vehicle longitudinal axis, pointing forwards
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===
+
+
+== Grp_Mirror_Rearview_View_<part_idx>_<rearview_mirror_view_idx>
+
+This group contains all parts of a rearview mirror without the housing.
+
+The `<rearview_mirror_view_idx>` is the index for all rearview mirrors counting from right to left (in positive y direction), and from the front to the rear, starting with 0.
+
+NOTE: Add a figure.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the mirror surface
+
+| *x-axis*
+| Pointing outwards from the front of the mirror
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards along the mirror face
+|===
+
+
+== Grp_Seat_<part_idx>_<seat_idx>
+
+This group contains all parts of a seat of the vehicle (part).
+
+The seat position can be used for the placement of a human 3D model as a passenger.
+Therefore, a bench is consists of multiple individual seats.
+
+The `<seat_idx>` is the index for all seats counting from from the front to the rear and right to left (in positive y direction), starting with 0.
+
+NOTE: Add a figure.
+
+.<Table title>
+[%header, cols="20, 80"]
+|===
+
+2+^| <Header>
+
+| *Origin*
+| Center of the seat cushion.
+
+| *x-axis*
+| Collinear with the vehicle longitudinal axis, pointing in the direction of the seat
+
+| *y-axis*
+| Completes the right-handed coordinate system
+
+| *z-axis*
+| Perpendicular to the x-axis, pointing vertically upwards
+|===