diff --git a/ultra/tests/test_analysis.py b/ultra/tests/test_analysis.py
index d9e756ef63..fe986777cf 100644
--- a/ultra/tests/test_analysis.py
+++ b/ultra/tests/test_analysis.py
@@ -54,6 +54,7 @@ def test_interface_analyze(self):
stopwatcher_route="south-west",
root_path="tests/scenarios",
save_dir=save_dir,
+ pool_dir="pool/analysis_pool",
)
if not os.path.exists(output):
@@ -98,6 +99,7 @@ def test_analyze_scenario(self):
stopwatcher_route="south-west",
root_path="tests/scenarios",
save_dir=save_dir,
+ pool_dir="pool/analysis_pool",
)
scenarios = glob.glob(f"{save_dir}")
try:
diff --git a/ultra/ultra/scenarios/generate_scenarios.py b/ultra/ultra/scenarios/generate_scenarios.py
index 39a9bdd3c9..e5a87d6802 100644
--- a/ultra/ultra/scenarios/generate_scenarios.py
+++ b/ultra/ultra/scenarios/generate_scenarios.py
@@ -686,6 +686,7 @@ def build_scenarios(
stopwatcher_route,
save_dir,
root_path,
+ pool_dir=None,
dynamic_pattern_func=None,
):
print("Generating Scenario ...")
@@ -700,7 +701,11 @@ def build_scenarios(
level_config = task_config["levels"][level_name]
scenarios_dir = os.path.dirname(os.path.realpath(__file__))
task_dir = f"{scenarios_dir}/{task}"
- pool_dir = f"{scenarios_dir}/pool"
+
+ if pool_dir is None:
+ pool_path = os.path.join(scenarios_dir, "pool/experiment_pool")
+ else:
+ pool_path = os.path.join(scenarios_dir, pool_dir)
train_total, test_total = (
int(level_config["train"]["total"]),
@@ -751,7 +756,7 @@ def build_scenarios(
reverse=True,
)
seed_count = 0
- map_dir = f"{pool_dir}/{intersection_type}"
+ map_dir = f"{pool_path}/{intersection_type}"
with open(f"{map_dir}/info.json") as jsonfile:
map_metadata = json.load(jsonfile)
route_lanes = map_metadata["num_lanes"]
diff --git a/ultra/ultra/scenarios/interface.py b/ultra/ultra/scenarios/interface.py
index 85a7d6cfa1..917b04ce17 100644
--- a/ultra/ultra/scenarios/interface.py
+++ b/ultra/ultra/scenarios/interface.py
@@ -53,14 +53,20 @@
"--task", help="type a task id [0, 1, 2, 3]", type=str
)
parser_generate_scenarios.add_argument(
- "--save-dir", help="directory for saving maps", type=str, default=None
+ "--save-dir", help="directory for saving scenarios", type=str, default=None
)
parser_generate_scenarios.add_argument(
"--root-dir",
- help="directory for saving maps",
+ help="path to task directory",
type=str,
default="ultra/scenarios",
)
+ parser_generate_scenarios.add_argument(
+ "--pool-dir",
+ help="directory for locating maps",
+ type=str,
+ default=None,
+ )
parser_generate_scenarios.add_argument("--level", help="easy/medium/hard", type=str)
parser_generate_scenarios.add_argument(
"--stopwatcher",
@@ -133,6 +139,7 @@
stopwatcher_route=stopwatcher_route,
save_dir=args.save_dir,
root_path=args.root_dir,
+ pool_dir=args.pool_dir,
)
else:
ray.init()
diff --git a/ultra/ultra/scenarios/pool/2lane_c/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/2lane_c/100kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/2lane_c/100kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/2lane_c/100kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/2lane_c/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/2lane_c/50kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/2lane_c/50kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/2lane_c/50kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/2lane_c/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/2lane_c/70kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/2lane_c/70kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/2lane_c/70kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/2lane_c/info.json b/ultra/ultra/scenarios/pool/analysis_pool/2lane_c/info.json
similarity index 100%
rename from ultra/ultra/scenarios/pool/2lane_c/info.json
rename to ultra/ultra/scenarios/pool/analysis_pool/2lane_c/info.json
diff --git a/ultra/ultra/scenarios/pool/2lane_curvy_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/2lane_curvy_t/100kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/2lane_curvy_t/100kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/2lane_curvy_t/100kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/2lane_curvy_t/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/2lane_curvy_t/50kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/2lane_curvy_t/50kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/2lane_curvy_t/50kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/2lane_curvy_t/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/2lane_curvy_t/70kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/2lane_curvy_t/70kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/2lane_curvy_t/70kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/2lane_curvy_t/info.json b/ultra/ultra/scenarios/pool/analysis_pool/2lane_curvy_t/info.json
similarity index 100%
rename from ultra/ultra/scenarios/pool/2lane_curvy_t/info.json
rename to ultra/ultra/scenarios/pool/analysis_pool/2lane_curvy_t/info.json
diff --git a/ultra/ultra/scenarios/pool/2lane_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/2lane_t/100kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/2lane_t/100kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/2lane_t/100kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/2lane_t/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/2lane_t/50kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/2lane_t/50kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/2lane_t/50kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/2lane_t/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/2lane_t/70kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/2lane_t/70kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/2lane_t/70kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/2lane_t/info.json b/ultra/ultra/scenarios/pool/analysis_pool/2lane_t/info.json
similarity index 100%
rename from ultra/ultra/scenarios/pool/2lane_t/info.json
rename to ultra/ultra/scenarios/pool/analysis_pool/2lane_t/info.json
diff --git a/ultra/ultra/scenarios/pool/3lane_c/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/3lane_c/100kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/3lane_c/100kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/3lane_c/100kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/3lane_c/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/3lane_c/50kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/3lane_c/50kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/3lane_c/50kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/3lane_c/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/3lane_c/70kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/3lane_c/70kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/3lane_c/70kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/3lane_c/info.json b/ultra/ultra/scenarios/pool/analysis_pool/3lane_c/info.json
similarity index 100%
rename from ultra/ultra/scenarios/pool/3lane_c/info.json
rename to ultra/ultra/scenarios/pool/analysis_pool/3lane_c/info.json
diff --git a/ultra/ultra/scenarios/pool/3lane_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/3lane_t/100kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/3lane_t/100kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/3lane_t/100kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/3lane_t/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/3lane_t/50kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/3lane_t/50kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/3lane_t/50kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/3lane_t/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/3lane_t/70kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/3lane_t/70kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/3lane_t/70kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/3lane_t/info.json b/ultra/ultra/scenarios/pool/analysis_pool/3lane_t/info.json
similarity index 100%
rename from ultra/ultra/scenarios/pool/3lane_t/info.json
rename to ultra/ultra/scenarios/pool/analysis_pool/3lane_t/info.json
diff --git a/ultra/ultra/scenarios/pool/4lane_c/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/4lane_c/100kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/4lane_c/100kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/4lane_c/100kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/4lane_c/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/4lane_c/50kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/4lane_c/50kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/4lane_c/50kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/4lane_c/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/4lane_c/70kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/4lane_c/70kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/4lane_c/70kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/4lane_c/info.json b/ultra/ultra/scenarios/pool/analysis_pool/4lane_c/info.json
similarity index 100%
rename from ultra/ultra/scenarios/pool/4lane_c/info.json
rename to ultra/ultra/scenarios/pool/analysis_pool/4lane_c/info.json
diff --git a/ultra/ultra/scenarios/pool/4lane_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/4lane_t/100kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/4lane_t/100kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/4lane_t/100kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/4lane_t/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/4lane_t/50kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/4lane_t/50kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/4lane_t/50kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/4lane_t/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/4lane_t/70kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/4lane_t/70kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/4lane_t/70kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/4lane_t/info.json b/ultra/ultra/scenarios/pool/analysis_pool/4lane_t/info.json
similarity index 100%
rename from ultra/ultra/scenarios/pool/4lane_t/info.json
rename to ultra/ultra/scenarios/pool/analysis_pool/4lane_t/info.json
diff --git a/ultra/ultra/scenarios/pool/5lane_c/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/5lane_c/100kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/5lane_c/100kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/5lane_c/100kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/5lane_c/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/5lane_c/50kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/5lane_c/50kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/5lane_c/50kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/5lane_c/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/5lane_c/70kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/5lane_c/70kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/5lane_c/70kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/5lane_c/info.json b/ultra/ultra/scenarios/pool/analysis_pool/5lane_c/info.json
similarity index 100%
rename from ultra/ultra/scenarios/pool/5lane_c/info.json
rename to ultra/ultra/scenarios/pool/analysis_pool/5lane_c/info.json
diff --git a/ultra/ultra/scenarios/pool/5lane_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/5lane_t/100kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/5lane_t/100kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/5lane_t/100kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/5lane_t/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/5lane_t/50kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/5lane_t/50kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/5lane_t/50kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/5lane_t/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/5lane_t/70kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/5lane_t/70kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/5lane_t/70kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/5lane_t/info.json b/ultra/ultra/scenarios/pool/analysis_pool/5lane_t/info.json
similarity index 100%
rename from ultra/ultra/scenarios/pool/5lane_t/info.json
rename to ultra/ultra/scenarios/pool/analysis_pool/5lane_t/info.json
diff --git a/ultra/ultra/scenarios/pool/6lane_c/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/6lane_c/100kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/6lane_c/100kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/6lane_c/100kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/6lane_c/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/6lane_c/50kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/6lane_c/50kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/6lane_c/50kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/6lane_c/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/6lane_c/70kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/6lane_c/70kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/6lane_c/70kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/6lane_c/info.json b/ultra/ultra/scenarios/pool/analysis_pool/6lane_c/info.json
similarity index 100%
rename from ultra/ultra/scenarios/pool/6lane_c/info.json
rename to ultra/ultra/scenarios/pool/analysis_pool/6lane_c/info.json
diff --git a/ultra/ultra/scenarios/pool/6lane_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/6lane_t/100kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/6lane_t/100kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/6lane_t/100kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/6lane_t/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/6lane_t/50kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/6lane_t/50kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/6lane_t/50kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/6lane_t/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/6lane_t/70kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/6lane_t/70kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/6lane_t/70kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/6lane_t/info.json b/ultra/ultra/scenarios/pool/analysis_pool/6lane_t/info.json
similarity index 100%
rename from ultra/ultra/scenarios/pool/6lane_t/info.json
rename to ultra/ultra/scenarios/pool/analysis_pool/6lane_t/info.json
diff --git a/ultra/ultra/scenarios/pool/behavior_race/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/behavior_race/70kmh/map.net.xml
similarity index 100%
rename from ultra/ultra/scenarios/pool/behavior_race/70kmh/map.net.xml
rename to ultra/ultra/scenarios/pool/analysis_pool/behavior_race/70kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/behavior_race/70kmh/road_speeds.json b/ultra/ultra/scenarios/pool/analysis_pool/behavior_race/70kmh/road_speeds.json
similarity index 100%
rename from ultra/ultra/scenarios/pool/behavior_race/70kmh/road_speeds.json
rename to ultra/ultra/scenarios/pool/analysis_pool/behavior_race/70kmh/road_speeds.json
diff --git a/ultra/ultra/scenarios/pool/behavior_race/info.json b/ultra/ultra/scenarios/pool/analysis_pool/behavior_race/info.json
similarity index 100%
rename from ultra/ultra/scenarios/pool/behavior_race/info.json
rename to ultra/ultra/scenarios/pool/analysis_pool/behavior_race/info.json
diff --git a/ultra/ultra/scenarios/pool/experiment_pool/2lane_c/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/2lane_c/100kmh/map.net.xml
new file mode 100644
index 0000000000..faebdb2ece
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/2lane_c/100kmh/map.net.xml
@@ -0,0 +1,204 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/2lane_c/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/2lane_c/50kmh/map.net.xml
new file mode 100644
index 0000000000..e6267a4e09
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/2lane_c/50kmh/map.net.xml
@@ -0,0 +1,204 @@
+
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/2lane_c/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/2lane_c/70kmh/map.net.xml
new file mode 100644
index 0000000000..0e6b3e88b5
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/2lane_c/70kmh/map.net.xml
@@ -0,0 +1,204 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/2lane_c/info.json b/ultra/ultra/scenarios/pool/experiment_pool/2lane_c/info.json
new file mode 100644
index 0000000000..b333c9150c
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/2lane_c/info.json
@@ -0,0 +1,4 @@
+{
+ "routes" : [["north-NS", "south-NS"],["north-NS", "east-WE"],["north-NS", "west-EW"], ["south-SN", "west-EW"], ["south-SN", "east-WE"], ["south-SN", "north-SN"], ["east-EW","west-EW"], ["east-EW","south-NS"], ["east-EW", "north-SN"], ["west-WE","east-WE"],["west-WE","north-SN"],["west-WE","south-NS"] ],
+ "num_lanes": {"north-NS":1, "south-NS":1, "east-WE":1, "west-EW":1, "south-NS":1, "south-SN":1, "north-SN":1, "east-EW":1, "west-WE":1}
+}
diff --git a/ultra/ultra/scenarios/pool/experiment_pool/2lane_curvy_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/2lane_curvy_t/100kmh/map.net.xml
new file mode 100644
index 0000000000..b979834161
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/2lane_curvy_t/100kmh/map.net.xml
@@ -0,0 +1,113 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/2lane_curvy_t/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/2lane_curvy_t/50kmh/map.net.xml
new file mode 100644
index 0000000000..5554ac5ebc
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/2lane_curvy_t/50kmh/map.net.xml
@@ -0,0 +1,113 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/2lane_curvy_t/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/2lane_curvy_t/70kmh/map.net.xml
new file mode 100644
index 0000000000..18cb3317c1
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/2lane_curvy_t/70kmh/map.net.xml
@@ -0,0 +1,113 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/2lane_curvy_t/info.json b/ultra/ultra/scenarios/pool/experiment_pool/2lane_curvy_t/info.json
new file mode 100644
index 0000000000..9e248172a2
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/2lane_curvy_t/info.json
@@ -0,0 +1,2 @@
+{"routes": [["east-EW", "west-EW"], ["east-EW", "south-NS"], ["west-WE", "east-WE"], ["west-WE", "south-NS"], ["south-SN", "east-WE"], ["south-SN", "west-EW"]],
+"num_lanes": {"east-EW": 1, "east-WE": 1, "west-EW": 1, "west-WE": 1, "south-SN": 1, "south-NS": 1}}
diff --git a/ultra/ultra/scenarios/pool/experiment_pool/2lane_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/2lane_t/100kmh/map.net.xml
new file mode 100644
index 0000000000..e471bd4f7b
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/2lane_t/100kmh/map.net.xml
@@ -0,0 +1,113 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/2lane_t/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/2lane_t/50kmh/map.net.xml
new file mode 100644
index 0000000000..d95c743bdc
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/2lane_t/50kmh/map.net.xml
@@ -0,0 +1,113 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/2lane_t/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/2lane_t/70kmh/map.net.xml
new file mode 100644
index 0000000000..1364e0daaf
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/2lane_t/70kmh/map.net.xml
@@ -0,0 +1,113 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/2lane_t/info.json b/ultra/ultra/scenarios/pool/experiment_pool/2lane_t/info.json
new file mode 100644
index 0000000000..9e248172a2
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/2lane_t/info.json
@@ -0,0 +1,2 @@
+{"routes": [["east-EW", "west-EW"], ["east-EW", "south-NS"], ["west-WE", "east-WE"], ["west-WE", "south-NS"], ["south-SN", "east-WE"], ["south-SN", "west-EW"]],
+"num_lanes": {"east-EW": 1, "east-WE": 1, "west-EW": 1, "west-WE": 1, "south-SN": 1, "south-NS": 1}}
diff --git a/ultra/ultra/scenarios/pool/experiment_pool/3lane_c/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/3lane_c/100kmh/map.net.xml
new file mode 100644
index 0000000000..07c8629289
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/3lane_c/100kmh/map.net.xml
@@ -0,0 +1,210 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/3lane_c/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/3lane_c/50kmh/map.net.xml
new file mode 100644
index 0000000000..4a443aa080
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/3lane_c/50kmh/map.net.xml
@@ -0,0 +1,210 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/3lane_c/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/3lane_c/70kmh/map.net.xml
new file mode 100644
index 0000000000..2b9fd98b21
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/3lane_c/70kmh/map.net.xml
@@ -0,0 +1,210 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/3lane_c/info.json b/ultra/ultra/scenarios/pool/experiment_pool/3lane_c/info.json
new file mode 100644
index 0000000000..ffb6cb7b37
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/3lane_c/info.json
@@ -0,0 +1,4 @@
+{
+ "routes" : [["north-NS", "south-NS"],["north-NS", "east-WE"],["north-NS", "west-EW"], ["south-SN", "west-EW"], ["south-SN", "east-WE"], ["south-SN", "north-SN"], ["east-EW","west-EW"], ["east-EW","south-NS"], ["east-EW", "north-SN"], ["west-WE","east-WE"],["west-WE","north-SN"],["west-WE","south-NS"] ],
+ "num_lanes": {"north-NS":1, "south-NS":1, "east-WE":2, "west-EW":1, "south-NS":1, "south-SN":1, "north-SN":1, "east-EW":1, "west-WE":2}
+}
diff --git a/ultra/ultra/scenarios/pool/experiment_pool/3lane_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/3lane_t/100kmh/map.net.xml
new file mode 100644
index 0000000000..63f9ba71ab
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/3lane_t/100kmh/map.net.xml
@@ -0,0 +1,124 @@
+
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/3lane_t/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/3lane_t/50kmh/map.net.xml
new file mode 100644
index 0000000000..67d92011e7
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/3lane_t/50kmh/map.net.xml
@@ -0,0 +1,124 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/3lane_t/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/3lane_t/70kmh/map.net.xml
new file mode 100644
index 0000000000..1ade4e62e0
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/3lane_t/70kmh/map.net.xml
@@ -0,0 +1,124 @@
+
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/3lane_t/info.json b/ultra/ultra/scenarios/pool/experiment_pool/3lane_t/info.json
new file mode 100644
index 0000000000..59c0a60187
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/3lane_t/info.json
@@ -0,0 +1,2 @@
+{"routes":[["east-EW", "west-EW"],["east-EW", "south-NS"],["west-WE", "east-WE"],["west-WE", "south-NS"],["south-SN", "east-WE"],["south-SN", "west-EW"]],
+"num_lanes":{"east-EW":1, "west-EW":1, "west-WE":2, "east-WE":2, "south-NS":1, "south-SN":1}}
diff --git a/ultra/ultra/scenarios/pool/experiment_pool/4lane_c/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/4lane_c/100kmh/map.net.xml
new file mode 100644
index 0000000000..f05b9e3e39
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/4lane_c/100kmh/map.net.xml
@@ -0,0 +1,228 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/4lane_c/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/4lane_c/50kmh/map.net.xml
new file mode 100644
index 0000000000..0c42e860a5
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/4lane_c/50kmh/map.net.xml
@@ -0,0 +1,228 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/4lane_c/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/4lane_c/70kmh/map.net.xml
new file mode 100644
index 0000000000..020ec44e68
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/4lane_c/70kmh/map.net.xml
@@ -0,0 +1,228 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/4lane_c/info.json b/ultra/ultra/scenarios/pool/experiment_pool/4lane_c/info.json
new file mode 100644
index 0000000000..b96ce845dd
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/4lane_c/info.json
@@ -0,0 +1,4 @@
+{
+ "routes" : [["north-NS", "south-NS"],["north-NS", "east-WE"],["north-NS", "west-EW"], ["south-SN", "west-EW"], ["south-SN", "east-WE"], ["south-SN", "north-SN"], ["east-EW","west-EW"], ["east-EW","south-NS"], ["east-EW", "north-SN"], ["west-WE","east-WE"],["west-WE","north-SN"],["west-WE","south-NS"]],
+ "num_lanes": {"north-NS":2, "south-NS":2, "east-WE":2, "west-EW":2, "south-NS":2, "south-SN":2, "north-SN":2, "east-EW":2, "west-WE":2}
+}
diff --git a/ultra/ultra/scenarios/pool/experiment_pool/4lane_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/4lane_t/100kmh/map.net.xml
new file mode 100644
index 0000000000..b423a2b9ac
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/4lane_t/100kmh/map.net.xml
@@ -0,0 +1,132 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/4lane_t/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/4lane_t/50kmh/map.net.xml
new file mode 100644
index 0000000000..09cfc2319a
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/4lane_t/50kmh/map.net.xml
@@ -0,0 +1,132 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/4lane_t/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/4lane_t/70kmh/map.net.xml
new file mode 100644
index 0000000000..95f4465be6
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/4lane_t/70kmh/map.net.xml
@@ -0,0 +1,132 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/4lane_t/info.json b/ultra/ultra/scenarios/pool/experiment_pool/4lane_t/info.json
new file mode 100644
index 0000000000..e281b4bcfe
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/4lane_t/info.json
@@ -0,0 +1,2 @@
+{"routes":[["east-EW", "west-EW"], ["east-EW", "south-NS"], ["west-WE", "east-WE"], ["west-WE", "south-NS"], ["south-SN", "west-EW"],["south-SN", "east-WE"]],
+ "num_lanes":{"east-EW":2, "west-EW":2, "south-NS":2, "south-SN":2, "east-WE":2, "west-WE":2}}
diff --git a/ultra/ultra/scenarios/pool/experiment_pool/5lane_c/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/5lane_c/100kmh/map.net.xml
new file mode 100644
index 0000000000..4d13414329
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/5lane_c/100kmh/map.net.xml
@@ -0,0 +1,234 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/5lane_c/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/5lane_c/50kmh/map.net.xml
new file mode 100644
index 0000000000..94aa260a39
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/5lane_c/50kmh/map.net.xml
@@ -0,0 +1,234 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/5lane_c/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/5lane_c/70kmh/map.net.xml
new file mode 100644
index 0000000000..37a8bf0731
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/5lane_c/70kmh/map.net.xml
@@ -0,0 +1,234 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/5lane_c/info.json b/ultra/ultra/scenarios/pool/experiment_pool/5lane_c/info.json
new file mode 100644
index 0000000000..8ad33ede9d
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/5lane_c/info.json
@@ -0,0 +1,4 @@
+{
+ "routes" : [["north-NS", "south-NS"],["north-NS", "east-WE"],["north-NS", "west-EW"], ["south-SN", "west-EW"], ["south-SN", "east-WE"], ["south-SN", "north-SN"], ["east-EW","west-EW"], ["east-EW","south-NS"], ["east-EW", "north-SN"], ["west-WE","east-WE"],["west-WE","north-SN"],["west-WE","south-NS"] ],
+ "num_lanes": {"north-NS":2, "south-NS":2, "east-WE":2, "west-EW":3, "south-NS":2, "south-SN":2, "north-SN":2, "east-EW":3, "west-WE":2}
+}
diff --git a/ultra/ultra/scenarios/pool/experiment_pool/5lane_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/5lane_t/100kmh/map.net.xml
new file mode 100644
index 0000000000..cb7e1abf83
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/5lane_t/100kmh/map.net.xml
@@ -0,0 +1,147 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/5lane_t/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/5lane_t/50kmh/map.net.xml
new file mode 100644
index 0000000000..4c4ab8b92c
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/5lane_t/50kmh/map.net.xml
@@ -0,0 +1,147 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/5lane_t/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/5lane_t/70kmh/map.net.xml
new file mode 100644
index 0000000000..ba21f5f9d3
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/5lane_t/70kmh/map.net.xml
@@ -0,0 +1,147 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/5lane_t/info.json b/ultra/ultra/scenarios/pool/experiment_pool/5lane_t/info.json
new file mode 100644
index 0000000000..94ee7ee6ce
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/5lane_t/info.json
@@ -0,0 +1,2 @@
+{"routes":[["east-EW", "west-EW"], ["east-EW", "south-NS"], ["west-WE", "east-WE"], ["west-WE", "south-NS"], ["south-SN", "west-EW"],["south-SN", "east-WE"]],
+ "num_lanes":{"east-EW":3, "west-EW":3, "south-NS":2, "south-SN":2, "east-WE":2, "west-WE":2}}
diff --git a/ultra/ultra/scenarios/pool/experiment_pool/6lane_c/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/6lane_c/100kmh/map.net.xml
new file mode 100644
index 0000000000..36070dc7f1
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/6lane_c/100kmh/map.net.xml
@@ -0,0 +1,240 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/6lane_c/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/6lane_c/50kmh/map.net.xml
new file mode 100644
index 0000000000..d2eb541791
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/6lane_c/50kmh/map.net.xml
@@ -0,0 +1,240 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/6lane_c/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/6lane_c/70kmh/map.net.xml
new file mode 100644
index 0000000000..a31f043d47
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/6lane_c/70kmh/map.net.xml
@@ -0,0 +1,240 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/6lane_c/info.json b/ultra/ultra/scenarios/pool/experiment_pool/6lane_c/info.json
new file mode 100644
index 0000000000..92ca2e3b95
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/6lane_c/info.json
@@ -0,0 +1,4 @@
+{
+ "routes" : [["north-NS", "south-NS"],["north-NS", "east-WE"],["north-NS", "west-EW"], ["south-SN", "west-EW"], ["south-SN", "east-WE"], ["south-SN", "north-SN"], ["east-EW","west-EW"], ["east-EW","south-NS"], ["east-EW", "north-SN"], ["west-WE","east-WE"],["west-WE","north-SN"],["west-WE","south-NS"] ],
+ "num_lanes": {"north-NS":2, "south-NS":2, "east-WE":3, "west-EW":3, "south-NS":2, "south-SN":2, "north-SN":2, "east-EW":3, "west-WE":3}
+}
diff --git a/ultra/ultra/scenarios/pool/experiment_pool/6lane_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/6lane_t/100kmh/map.net.xml
new file mode 100644
index 0000000000..e1ab33b7a8
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/6lane_t/100kmh/map.net.xml
@@ -0,0 +1,153 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/6lane_t/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/6lane_t/50kmh/map.net.xml
new file mode 100644
index 0000000000..913d56e728
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/6lane_t/50kmh/map.net.xml
@@ -0,0 +1,153 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/6lane_t/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/6lane_t/70kmh/map.net.xml
new file mode 100644
index 0000000000..fffc009728
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/6lane_t/70kmh/map.net.xml
@@ -0,0 +1,153 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/6lane_t/info.json b/ultra/ultra/scenarios/pool/experiment_pool/6lane_t/info.json
new file mode 100644
index 0000000000..2fa6a30e5c
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/6lane_t/info.json
@@ -0,0 +1,2 @@
+{"routes":[["east-EW", "west-EW"], ["east-EW", "south-NS"], ["west-WE", "east-WE"], ["west-WE", "south-NS"], ["south-SN", "west-EW"],["south-SN", "east-WE"]],
+ "num_lanes":{"east-EW":3, "west-EW":3, "south-NS":2, "south-SN":2, "east-WE":3, "west-WE":3}}
diff --git a/ultra/ultra/scenarios/pool/experiment_pool/behavior_race/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_pool/behavior_race/70kmh/map.net.xml
new file mode 100644
index 0000000000..07bb46c3db
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/behavior_race/70kmh/map.net.xml
@@ -0,0 +1,118 @@
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diff --git a/ultra/ultra/scenarios/pool/experiment_pool/behavior_race/70kmh/road_speeds.json b/ultra/ultra/scenarios/pool/experiment_pool/behavior_race/70kmh/road_speeds.json
new file mode 100644
index 0000000000..b3eb40c0e8
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/behavior_race/70kmh/road_speeds.json
@@ -0,0 +1 @@
+{"(\"east-EW\",\"west-EW\")": 19.44}
\ No newline at end of file
diff --git a/ultra/ultra/scenarios/pool/experiment_pool/behavior_race/info.json b/ultra/ultra/scenarios/pool/experiment_pool/behavior_race/info.json
new file mode 100644
index 0000000000..cbbc2264e4
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/experiment_pool/behavior_race/info.json
@@ -0,0 +1,4 @@
+{
+ "routes" : [["east-EW","west-EW"]],
+ "num_lanes": {"east-EW":10, "west-EW":10}
+}