Various.

Hello.
If something below doesn't apply please disregard it.

"The problems I saw with simplix, especially TRB1, were
its overly cautious cornering and the way it cut the inside of the corners too much on
sharp bends, such as the hairpin on wheel-2"

I believe the robot finds it advantageous to drive off track. Change the values for:
        <attnum name="friction"           val="1.2"/>
        <attnum name="rolling resistance" val="0.01"/>
to something bad and the robot doesn't drive there.

I could not change between sequential gearshift and H-gate shift as I wanted. I believe the program couldn't find the right entry in preferences.xml file. I solved it by refining it to contain just:
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE params SYSTEM "params.dtd">


<params name="preferences">
  <section name="Preferences">
    <attstr name="control" in="mouse,joystick" val="joystick"/>
    <section name="Drivers">
      <section name="1">
        <attstr name="transmission" in="auto,sequential,grid" val="sequential"/>
        <attstr name="ABS on" in="yes,no" val="no"/>
        <attstr name="ASR on" in="yes,no" val="no"/>
        <attnum name="programmed pit stops" val="0"/>
        <attnum name="steer sensitivity" val="0.6"/>
        <attnum name="steer dead zone" val="0.01"/>
        <attstr name="left steer" val="AXIS0-0"/>
        <attnum name="left steer min" val="-1"/>
        <attnum name="left steer max" val="0.00112918"/>
        <attnum name="left steer power" val="1"/>
        <attstr name="right steer" val="AXIS0-0"/>
        <attnum name="right steer min" val="0.00112918"/>
        <attnum name="right steer max" val="1"/>
        <attnum name="right steer power" val="1"/>
        <attstr name="throttle" val="AXIS2-0"/>
        <attnum name="throttle min" val="1"/>
        <attnum name="throttle max" val="-1.1"/>
        <attnum name="throttle power" val="1.2"/>
        <attstr name="brake" val="AXIS3-0"/>
        <attnum name="brake min" val="1"/>
        <attnum name="brake max" val="-1.1"/>
        <attnum name="brake power" val="1.2"/>
        <attstr name="ABS cmd" val="BTN9-0"/>
        <attstr name="ASR cmd" val="BTN12-0"/>
        <attstr name="auto reverse" val="yes"/>
        <attstr name="sequential shifter allow neutral" val="no"/>
        <attstr name="release gear button goes neutral" val="no"/>
        <attstr name="clutch" val="AXIS1-0"/>
        <attnum name="clutch min" val="1"/>
        <attnum name="clutch max" val="-1.1"/>
        <attnum name="clutch power" val="1.2"/>
        <attstr name="Speed Limiter" val="BTN4-0"/>
        <attstr name="Light1 cmd" val="BTN2-0"/>
        <attstr name="reverse gear" val="BTN3-0"/>
        <attstr name="neutral gear" val="BTN1-0"/>
        <attstr name="down shift" val="BTN13-0"/>
        <attstr name="up shift" val="BTN14-0"/>
        <attstr name="1st gear" val="-"/>
        <attstr name="2nd gear" val="-"/>
        <attstr name="3rd gear" val="-"/>
        <attstr name="4th gear" val="-"/>
        <attstr name="5th gear" val="-"/>
        <attstr name="6th gear" val="-"/>
      </section>

    </section>

  </section>

</params>

Regards
Kennet


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