From 8fd5b69e8ef168f79e806a2be6538ad5cd2d2811 Mon Sep 17 00:00:00 2001
From: Jenish Patel <jenish@ualberta.ca>
Date: Wed, 19 May 2021 17:16:22 +0000
Subject: [PATCH 1/3] update existing maps

---
 ultra/tests/test_analysis.py                  |   2 +
 ultra/ultra/scenarios/generate_scenarios.py   |   9 +-
 ultra/ultra/scenarios/interface.py            |  11 +-
 .../scenarios/pool/2lane_c/100kmh/map.net.xml | 430 +++++++--------
 .../scenarios/pool/2lane_c/50kmh/map.net.xml  | 430 +++++++--------
 .../scenarios/pool/2lane_c/70kmh/map.net.xml  | 430 +++++++--------
 ultra/ultra/scenarios/pool/2lane_c/info.json  |   0
 .../pool/2lane_curvy_t/100kmh/map.net.xml     | 248 ++++-----
 .../pool/2lane_curvy_t/50kmh/map.net.xml      | 248 ++++-----
 .../pool/2lane_curvy_t/70kmh/map.net.xml      | 266 ++++------
 .../scenarios/pool/2lane_curvy_t/info.json    |   0
 .../scenarios/pool/2lane_t/100kmh/map.net.xml | 248 ++++-----
 .../scenarios/pool/2lane_t/50kmh/map.net.xml  | 248 ++++-----
 .../scenarios/pool/2lane_t/70kmh/map.net.xml  | 248 ++++-----
 ultra/ultra/scenarios/pool/2lane_t/info.json  |   0
 .../scenarios/pool/3lane_c/100kmh/map.net.xml | 442 ++++++++-------
 .../scenarios/pool/3lane_c/50kmh/map.net.xml  | 442 ++++++++-------
 .../scenarios/pool/3lane_c/70kmh/map.net.xml  | 442 ++++++++-------
 ultra/ultra/scenarios/pool/3lane_c/info.json  |   0
 .../scenarios/pool/3lane_t/100kmh/map.net.xml | 270 +++++-----
 .../scenarios/pool/3lane_t/50kmh/map.net.xml  | 270 +++++-----
 .../scenarios/pool/3lane_t/70kmh/map.net.xml  | 270 +++++-----
 ultra/ultra/scenarios/pool/3lane_t/info.json  |   0
 .../scenarios/pool/4lane_c/100kmh/map.net.xml | 478 ++++++++---------
 .../scenarios/pool/4lane_c/50kmh/map.net.xml  | 478 ++++++++---------
 .../scenarios/pool/4lane_c/70kmh/map.net.xml  | 478 ++++++++---------
 ultra/ultra/scenarios/pool/4lane_c/info.json  |   0
 .../scenarios/pool/4lane_t/100kmh/map.net.xml | 286 +++++-----
 .../scenarios/pool/4lane_t/50kmh/map.net.xml  | 286 +++++-----
 .../scenarios/pool/4lane_t/70kmh/map.net.xml  | 286 +++++-----
 ultra/ultra/scenarios/pool/4lane_t/info.json  |   0
 .../scenarios/pool/5lane_c/100kmh/map.net.xml | 490 ++++++++---------
 .../scenarios/pool/5lane_c/50kmh/map.net.xml  | 490 ++++++++---------
 .../scenarios/pool/5lane_c/70kmh/map.net.xml  | 490 ++++++++---------
 ultra/ultra/scenarios/pool/5lane_c/info.json  |   0
 .../scenarios/pool/5lane_t/100kmh/map.net.xml | 318 +++++------
 .../scenarios/pool/5lane_t/50kmh/map.net.xml  | 318 +++++------
 .../scenarios/pool/5lane_t/70kmh/map.net.xml  | 318 +++++------
 ultra/ultra/scenarios/pool/5lane_t/info.json  |   0
 .../scenarios/pool/6lane_c/100kmh/map.net.xml | 502 +++++++++---------
 .../scenarios/pool/6lane_c/50kmh/map.net.xml  | 502 +++++++++---------
 .../scenarios/pool/6lane_c/70kmh/map.net.xml  | 502 +++++++++---------
 ultra/ultra/scenarios/pool/6lane_c/info.json  |   0
 .../scenarios/pool/6lane_t/100kmh/map.net.xml | 330 ++++++------
 .../scenarios/pool/6lane_t/50kmh/map.net.xml  | 330 ++++++------
 .../scenarios/pool/6lane_t/70kmh/map.net.xml  | 330 ++++++------
 ultra/ultra/scenarios/pool/6lane_t/info.json  |   0
 .../analysis_pool/2lane_c/100kmh/map.net.xml  | 226 ++++++++
 .../analysis_pool/2lane_c/50kmh/map.net.xml   | 226 ++++++++
 .../analysis_pool/2lane_c/70kmh/map.net.xml   | 226 ++++++++
 .../pool/analysis_pool/2lane_c/info.json      |   4 +
 .../2lane_curvy_t/100kmh/map.net.xml          | 135 +++++
 .../2lane_curvy_t/50kmh/map.net.xml           | 135 +++++
 .../2lane_curvy_t/70kmh/map.net.xml           | 153 ++++++
 .../analysis_pool/2lane_curvy_t/info.json     |   2 +
 .../analysis_pool/2lane_t/100kmh/map.net.xml  | 135 +++++
 .../analysis_pool/2lane_t/50kmh/map.net.xml   | 135 +++++
 .../analysis_pool/2lane_t/70kmh/map.net.xml   | 135 +++++
 .../pool/analysis_pool/2lane_t/info.json      |   2 +
 .../analysis_pool/3lane_c/100kmh/map.net.xml  | 232 ++++++++
 .../analysis_pool/3lane_c/50kmh/map.net.xml   | 232 ++++++++
 .../analysis_pool/3lane_c/70kmh/map.net.xml   | 232 ++++++++
 .../pool/analysis_pool/3lane_c/info.json      |   4 +
 .../analysis_pool/3lane_t/100kmh/map.net.xml  | 146 +++++
 .../analysis_pool/3lane_t/50kmh/map.net.xml   | 146 +++++
 .../analysis_pool/3lane_t/70kmh/map.net.xml   | 146 +++++
 .../pool/analysis_pool/3lane_t/info.json      |   2 +
 .../analysis_pool/4lane_c/100kmh/map.net.xml  | 250 +++++++++
 .../analysis_pool/4lane_c/50kmh/map.net.xml   | 250 +++++++++
 .../analysis_pool/4lane_c/70kmh/map.net.xml   | 250 +++++++++
 .../pool/analysis_pool/4lane_c/info.json      |   4 +
 .../analysis_pool/4lane_t/100kmh/map.net.xml  | 154 ++++++
 .../analysis_pool/4lane_t/50kmh/map.net.xml   | 154 ++++++
 .../analysis_pool/4lane_t/70kmh/map.net.xml   | 154 ++++++
 .../pool/analysis_pool/4lane_t/info.json      |   2 +
 .../analysis_pool/5lane_c/100kmh/map.net.xml  | 256 +++++++++
 .../analysis_pool/5lane_c/50kmh/map.net.xml   | 256 +++++++++
 .../analysis_pool/5lane_c/70kmh/map.net.xml   | 256 +++++++++
 .../pool/analysis_pool/5lane_c/info.json      |   4 +
 .../analysis_pool/5lane_t/100kmh/map.net.xml  | 171 ++++++
 .../analysis_pool/5lane_t/50kmh/map.net.xml   | 171 ++++++
 .../analysis_pool/5lane_t/70kmh/map.net.xml   | 171 ++++++
 .../pool/analysis_pool/5lane_t/info.json      |   2 +
 .../analysis_pool/6lane_c/100kmh/map.net.xml  | 262 +++++++++
 .../analysis_pool/6lane_c/50kmh/map.net.xml   | 262 +++++++++
 .../analysis_pool/6lane_c/70kmh/map.net.xml   | 262 +++++++++
 .../pool/analysis_pool/6lane_c/info.json      |   4 +
 .../analysis_pool/6lane_t/100kmh/map.net.xml  | 177 ++++++
 .../analysis_pool/6lane_t/50kmh/map.net.xml   | 177 ++++++
 .../analysis_pool/6lane_t/70kmh/map.net.xml   | 177 ++++++
 .../pool/analysis_pool/6lane_t/info.json      |   2 +
 .../behavior_race/70kmh/map.net.xml           | 140 +++++
 .../behavior_race/70kmh/road_speeds.json      |   1 +
 .../analysis_pool/behavior_race/info.json     |   4 +
 .../pool/behavior_race/70kmh/map.net.xml      | 258 ++++-----
 95 files changed, 12457 insertions(+), 6594 deletions(-)
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/2lane_c/100kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/2lane_c/50kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/2lane_c/70kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/2lane_c/info.json
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/2lane_curvy_t/100kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/2lane_curvy_t/50kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/2lane_curvy_t/70kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/2lane_curvy_t/info.json
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/2lane_t/100kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/2lane_t/50kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/2lane_t/70kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/2lane_t/info.json
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/3lane_c/100kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/3lane_c/50kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/3lane_c/70kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/3lane_c/info.json
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/3lane_t/100kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/3lane_t/50kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/3lane_t/70kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/3lane_t/info.json
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/4lane_c/100kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/4lane_c/50kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/4lane_c/70kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/4lane_c/info.json
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/4lane_t/100kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/4lane_t/50kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/4lane_t/70kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/4lane_t/info.json
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/5lane_c/100kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/5lane_c/50kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/5lane_c/70kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/5lane_c/info.json
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/5lane_t/100kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/5lane_t/50kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/5lane_t/70kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/5lane_t/info.json
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/6lane_c/100kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/6lane_c/50kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/6lane_c/70kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/6lane_c/info.json
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/6lane_t/100kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/6lane_t/50kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/6lane_t/70kmh/map.net.xml
 mode change 100755 => 100644 ultra/ultra/scenarios/pool/6lane_t/info.json
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/2lane_c/100kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/2lane_c/50kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/2lane_c/70kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/2lane_c/info.json
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/2lane_curvy_t/100kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/2lane_curvy_t/50kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/2lane_curvy_t/70kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/2lane_curvy_t/info.json
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/2lane_t/100kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/2lane_t/50kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/2lane_t/70kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/2lane_t/info.json
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/3lane_c/100kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/3lane_c/50kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/3lane_c/70kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/3lane_c/info.json
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/3lane_t/100kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/3lane_t/50kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/3lane_t/70kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/3lane_t/info.json
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/4lane_c/100kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/4lane_c/50kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/4lane_c/70kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/4lane_c/info.json
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/4lane_t/100kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/4lane_t/50kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/4lane_t/70kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/4lane_t/info.json
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/5lane_c/100kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/5lane_c/50kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/5lane_c/70kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/5lane_c/info.json
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/5lane_t/100kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/5lane_t/50kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/5lane_t/70kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/5lane_t/info.json
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/6lane_c/100kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/6lane_c/50kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/6lane_c/70kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/6lane_c/info.json
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/6lane_t/100kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/6lane_t/50kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/6lane_t/70kmh/map.net.xml
 create mode 100755 ultra/ultra/scenarios/pool/analysis_pool/6lane_t/info.json
 create mode 100644 ultra/ultra/scenarios/pool/analysis_pool/behavior_race/70kmh/map.net.xml
 create mode 100644 ultra/ultra/scenarios/pool/analysis_pool/behavior_race/70kmh/road_speeds.json
 create mode 100644 ultra/ultra/scenarios/pool/analysis_pool/behavior_race/info.json

diff --git a/ultra/tests/test_analysis.py b/ultra/tests/test_analysis.py
index d9e756ef63..0d0c144f96 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..9b20db5f29 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")
+    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..aabf9290dd 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="directory for saving scenarios",
         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/2lane_c/100kmh/map.net.xml
old mode 100755
new mode 100644
index 5f716e1964..faebdb2ece
--- a/ultra/ultra/scenarios/pool/2lane_c/100kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/2lane_c/100kmh/map.net.xml
@@ -1,226 +1,204 @@
-<?xml version="1.0" encoding="UTF-8"?>
-
-<!-- generated on Wed 30 Sep 13:43:12 2020 by Eclipse SUMO netedit Version 1.5.0
-<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
-
-    <input>
-        <sumo-net-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/2lane_c/100kmh/map.net.xml"/>
-    </input>
-
-    <output>
-        <output-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/2lane_c/100kmh/map.net.xml"/>
-    </output>
-
-    <processing>
-        <geometry.min-radius.fix.railways value="false"/>
-        <geometry.max-grade.fix value="false"/>
-        <offset.disable-normalization value="true"/>
-        <lefthand value="false"/>
-    </processing>
-
-    <junctions>
-        <no-turnarounds value="true"/>
-        <junctions.corner-detail value="5"/>
-        <junctions.limit-turn-speed value="-1"/>
-        <rectangular-lane-cut value="false"/>
-    </junctions>
-
-    <pedestrian>
-        <walkingareas value="false"/>
-    </pedestrian>
-
-    <report>
-        <aggregate-warnings value="5"/>
-    </report>
-
-</configuration>
--->
-
-<net version="1.3" junctionCornerDetail="5" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/net_file.xsd">
-
-    <location netOffset="-630882.85,-4856133.12" convBoundary="-33.47,-238.04,360.88,87.45" origBoundary="-79.371708,43.846679,-79.369237,43.847436" projParameter="+proj=utm +zone=17 +ellps=WGS84 +datum=WGS84 +units=m +no_defs"/>
-
-    <type id="highway.bridleway" priority="1" numLanes="1" speed="2.78" allow="pedestrian" oneway="1" width="2.00"/>
-    <type id="highway.bus_guideway" priority="1" numLanes="1" speed="27.78" allow="bus" oneway="1"/>
-    <type id="highway.cycleway" priority="1" numLanes="1" speed="8.33" allow="bicycle" oneway="0" width="1.00"/>
-    <type id="highway.footway" priority="1" numLanes="1" speed="2.78" allow="pedestrian" oneway="1" width="2.00"/>
-    <type id="highway.ford" priority="1" numLanes="1" speed="2.78" allow="army" oneway="0"/>
-    <type id="highway.living_street" priority="2" numLanes="1" speed="2.78" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
-    <type id="highway.motorway" priority="14" numLanes="2" speed="39.44" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" oneway="1"/>
-    <type id="highway.motorway_link" priority="9" numLanes="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" oneway="1"/>
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+    <pedestrian>
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+    <type id="highway.step" priority="1" numLanes="1" speed="1.39" allow="pedestrian" oneway="1" width="2.00"/>
+    <type id="highway.steps" priority="1" numLanes="1" speed="1.39" allow="pedestrian" oneway="1" width="2.00"/>
+    <type id="highway.tertiary" priority="10" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="1"/>
+    <type id="highway.tertiary_link" priority="5" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="1"/>
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+    <type id="highway.trunk" priority="13" numLanes="2" speed="27.78" disallow="pedestrian bicycle tram rail_urban rail rail_electric ship" oneway="1"/>
+    <type id="highway.trunk_link" priority="8" numLanes="1" speed="22.22" disallow="pedestrian bicycle tram rail_urban rail rail_electric ship" oneway="1"/>
+    <type id="highway.unclassified" priority="4" numLanes="1" speed="13.89" disallow="tram rail_urban rail rail_electric ship" oneway="1"/>
+    <type id="highway.unsurfaced" priority="1" numLanes="1" speed="8.33" disallow="tram rail_urban rail rail_electric ship" oneway="1"/>
+    <type id="railway.light_rail" priority="19" numLanes="1" speed="27.78" allow="rail_urban" oneway="1"/>
+    <type id="railway.preserved" priority="16" numLanes="1" speed="27.78" allow="rail" oneway="1"/>
+    <type id="railway.rail" priority="20" numLanes="1" speed="83.33" allow="rail rail_electric" oneway="1"/>
+    <type id="railway.subway" priority="18" numLanes="1" speed="27.78" allow="rail_urban" oneway="1"/>
+    <type id="railway.tram" priority="17" numLanes="1" speed="13.89" allow="tram" oneway="1"/>
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+    <edge id=":junction-intersection_0" function="internal">
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+    </edge>
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+        <lane id=":junction-intersection_1_0" index="0" speed="27.78" length="22.40" shape="148.40,-48.80 148.40,-71.20"/>
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+        <lane id=":junction-intersection_4_0" index="0" speed="13.89" length="22.40" shape="161.20,-58.40 138.80,-58.40"/>
+    </edge>
+    <edge id=":junction-intersection_5" function="internal">
+        <lane id=":junction-intersection_5_0" index="0" speed="20.84" length="5.30" shape="161.20,-58.40 155.96,-59.15"/>
+    </edge>
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+        <lane id=":junction-intersection_13_0" index="0" speed="20.84" length="15.35" shape="155.96,-59.15 155.60,-59.20 151.60,-61.60 149.20,-65.60 148.40,-71.20"/>
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+    </edge>
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+    <edge id="edge-east-EW" from="gneJ11" to="junction-intersection" priority="1">
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+    <edge id="edge-north-NS" from="gneJ17" to="junction-intersection" priority="1">
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+    <junction id=":junction-intersection_12_0" type="internal" x="149.15" y="-54.04" incLanes=":junction-intersection_2_0 edge-east-EW_0 edge-south-SN_0 edge-west-WE_0" intLanes=":junction-intersection_4_0 :junction-intersection_5_0 :junction-intersection_6_0 :junction-intersection_7_0 :junction-intersection_10_0 :junction-intersection_11_0"/>
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+    <junction id=":junction-intersection_14_0" type="internal" x="150.85" y="-65.96" incLanes=":junction-intersection_8_0 edge-east-EW_0 edge-north-NS_0 edge-west-WE_0" intLanes=":junction-intersection_0_0 :junction-intersection_1_0 :junction-intersection_4_0 :junction-intersection_5_0 :junction-intersection_10_0 :junction-intersection_11_0"/>
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+    <connection from=":junction-intersection_0" to="edge-west-EW" fromLane="0" toLane="0" dir="r" state="M"/>
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+    <connection from=":junction-intersection_14" to="edge-west-EW" fromLane="0" toLane="0" dir="l" state="M"/>
+    <connection from=":junction-intersection_9" to="edge-south-NS" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":junction-intersection_10" to="edge-east-WE" fromLane="0" toLane="0" dir="s" state="M"/>
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+    <connection from=":junction-intersection_15" to="edge-north-SN" fromLane="0" toLane="0" dir="l" state="M"/>
+
+</net>
diff --git a/ultra/ultra/scenarios/pool/2lane_c/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/2lane_c/50kmh/map.net.xml
old mode 100755
new mode 100644
index 14bbacb5d4..e6267a4e09
--- a/ultra/ultra/scenarios/pool/2lane_c/50kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/2lane_c/50kmh/map.net.xml
@@ -1,226 +1,204 @@
-<?xml version="1.0" encoding="UTF-8"?>
-
-<!-- generated on Wed  2 Sep 12:24:34 2020 by Eclipse SUMO netedit Version 1.5.0
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-
-    <input>
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-    </input>
-
-    <output>
-        <output-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/2lane_c/40kmh/map.net.xml"/>
-    </output>
-
-    <processing>
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-        <geometry.max-grade.fix value="false"/>
-        <offset.disable-normalization value="true"/>
-        <lefthand value="false"/>
-    </processing>
-
-    <junctions>
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-        <junctions.corner-detail value="5"/>
-        <junctions.limit-turn-speed value="-1"/>
-        <rectangular-lane-cut value="false"/>
-    </junctions>
-
-    <pedestrian>
-        <walkingareas value="false"/>
-    </pedestrian>
-
-    <report>
-        <aggregate-warnings value="5"/>
-    </report>
-
-</configuration>
--->
-
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-    <location netOffset="-630882.85,-4856133.12" convBoundary="-36.41,-237.94,360.88,87.45" origBoundary="-79.371708,43.846679,-79.369237,43.847436" projParameter="+proj=utm +zone=17 +ellps=WGS84 +datum=WGS84 +units=m +no_defs"/>
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+    <pedestrian>
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+    <report>
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diff --git a/ultra/ultra/scenarios/pool/2lane_c/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/2lane_c/70kmh/map.net.xml
old mode 100755
new mode 100644
index 80552e7a96..0e6b3e88b5
--- a/ultra/ultra/scenarios/pool/2lane_c/70kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/2lane_c/70kmh/map.net.xml
@@ -1,226 +1,204 @@
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-    <pedestrian>
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-    <report>
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--->
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diff --git a/ultra/ultra/scenarios/pool/2lane_c/info.json b/ultra/ultra/scenarios/pool/2lane_c/info.json
old mode 100755
new mode 100644
diff --git a/ultra/ultra/scenarios/pool/2lane_curvy_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/2lane_curvy_t/100kmh/map.net.xml
old mode 100755
new mode 100644
index 7fede6d22f..b979834161
--- a/ultra/ultra/scenarios/pool/2lane_curvy_t/100kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/2lane_curvy_t/100kmh/map.net.xml
@@ -1,135 +1,113 @@
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diff --git a/ultra/ultra/scenarios/pool/2lane_curvy_t/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/2lane_curvy_t/50kmh/map.net.xml
old mode 100755
new mode 100644
index 732f175344..5554ac5ebc
--- a/ultra/ultra/scenarios/pool/2lane_curvy_t/50kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/2lane_curvy_t/50kmh/map.net.xml
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diff --git a/ultra/ultra/scenarios/pool/2lane_curvy_t/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/2lane_curvy_t/70kmh/map.net.xml
old mode 100755
new mode 100644
index a1c4f06afd..18cb3317c1
--- a/ultra/ultra/scenarios/pool/2lane_curvy_t/70kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/2lane_curvy_t/70kmh/map.net.xml
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diff --git a/ultra/ultra/scenarios/pool/2lane_curvy_t/info.json b/ultra/ultra/scenarios/pool/2lane_curvy_t/info.json
old mode 100755
new mode 100644
diff --git a/ultra/ultra/scenarios/pool/2lane_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/2lane_t/100kmh/map.net.xml
old mode 100755
new mode 100644
index c237673787..e471bd4f7b
--- a/ultra/ultra/scenarios/pool/2lane_t/100kmh/map.net.xml
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diff --git a/ultra/ultra/scenarios/pool/2lane_t/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/2lane_t/50kmh/map.net.xml
old mode 100755
new mode 100644
index 7481187183..d95c743bdc
--- a/ultra/ultra/scenarios/pool/2lane_t/50kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/2lane_t/50kmh/map.net.xml
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diff --git a/ultra/ultra/scenarios/pool/2lane_t/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/2lane_t/70kmh/map.net.xml
old mode 100755
new mode 100644
index de13cd75b4..1364e0daaf
--- a/ultra/ultra/scenarios/pool/2lane_t/70kmh/map.net.xml
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diff --git a/ultra/ultra/scenarios/pool/2lane_t/info.json b/ultra/ultra/scenarios/pool/2lane_t/info.json
old mode 100755
new mode 100644
diff --git a/ultra/ultra/scenarios/pool/3lane_c/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/3lane_c/100kmh/map.net.xml
old mode 100755
new mode 100644
index 2626a4259f..07c8629289
--- a/ultra/ultra/scenarios/pool/3lane_c/100kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/3lane_c/100kmh/map.net.xml
@@ -1,232 +1,210 @@
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diff --git a/ultra/ultra/scenarios/pool/3lane_c/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/3lane_c/50kmh/map.net.xml
old mode 100755
new mode 100644
index 7f9a1e9ff4..4a443aa080
--- a/ultra/ultra/scenarios/pool/3lane_c/50kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/3lane_c/50kmh/map.net.xml
@@ -1,232 +1,210 @@
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diff --git a/ultra/ultra/scenarios/pool/3lane_c/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/3lane_c/70kmh/map.net.xml
old mode 100755
new mode 100644
index 73361a2983..2b9fd98b21
--- a/ultra/ultra/scenarios/pool/3lane_c/70kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/3lane_c/70kmh/map.net.xml
@@ -1,232 +1,210 @@
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--->
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+    <connection from=":junction-intersection_9" to="edge-south-NS" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":junction-intersection_10" to="edge-east-WE" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":junction-intersection_10" to="edge-east-WE" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":junction-intersection_12" to="edge-north-SN" fromLane="0" toLane="0" via=":junction-intersection_16_0" dir="l" state="m"/>
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diff --git a/ultra/ultra/scenarios/pool/3lane_c/info.json b/ultra/ultra/scenarios/pool/3lane_c/info.json
old mode 100755
new mode 100644
diff --git a/ultra/ultra/scenarios/pool/3lane_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/3lane_t/100kmh/map.net.xml
old mode 100755
new mode 100644
index e8ec2f6167..63f9ba71ab
--- a/ultra/ultra/scenarios/pool/3lane_t/100kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/3lane_t/100kmh/map.net.xml
@@ -1,146 +1,124 @@
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--->
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diff --git a/ultra/ultra/scenarios/pool/3lane_t/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/3lane_t/50kmh/map.net.xml
old mode 100755
new mode 100644
index 6336328bdd..67d92011e7
--- a/ultra/ultra/scenarios/pool/3lane_t/50kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/3lane_t/50kmh/map.net.xml
@@ -1,146 +1,124 @@
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diff --git a/ultra/ultra/scenarios/pool/3lane_t/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/3lane_t/70kmh/map.net.xml
old mode 100755
new mode 100644
index a80b5a1323..1ade4e62e0
--- a/ultra/ultra/scenarios/pool/3lane_t/70kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/3lane_t/70kmh/map.net.xml
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diff --git a/ultra/ultra/scenarios/pool/3lane_t/info.json b/ultra/ultra/scenarios/pool/3lane_t/info.json
old mode 100755
new mode 100644
diff --git a/ultra/ultra/scenarios/pool/4lane_c/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/4lane_c/100kmh/map.net.xml
old mode 100755
new mode 100644
index 1a86868793..f05b9e3e39
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+    <output>
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+    <processing>
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+    <junctions>
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+
+    <pedestrian>
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+    <report>
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+</configuration>
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diff --git a/ultra/ultra/scenarios/pool/4lane_c/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/4lane_c/50kmh/map.net.xml
old mode 100755
new mode 100644
index b0c35eb228..0c42e860a5
--- a/ultra/ultra/scenarios/pool/4lane_c/50kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/4lane_c/50kmh/map.net.xml
@@ -1,250 +1,228 @@
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-    <pedestrian>
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-    <report>
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--->
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+    <input>
+        <sumo-net-file value="C:\Users\j84181432\Documents\pool\4lane_c\50kmh\map.net.xml"/>
+    </input>
+
+    <output>
+        <output-file value="C:\Users\j84181432\Documents\pool\4lane_c\50kmh\map.net.xml"/>
+    </output>
+
+    <processing>
+        <geometry.min-radius.fix.railways value="false"/>
+        <geometry.max-grade.fix value="false"/>
+        <offset.disable-normalization value="true"/>
+        <lefthand value="false"/>
+    </processing>
+
+    <junctions>
+        <no-turnarounds value="true"/>
+        <junctions.corner-detail value="5"/>
+        <junctions.limit-turn-speed value="-1"/>
+        <rectangular-lane-cut value="false"/>
+    </junctions>
+
+    <pedestrian>
+        <walkingareas value="false"/>
+    </pedestrian>
+
+    <report>
+        <aggregate-warnings value="5"/>
+    </report>
+
+</configuration>
+-->
+
+<net version="1.9" junctionCornerDetail="5" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/net_file.xsd">
+
+    <location netOffset="-630882.85,-4856133.12" convBoundary="-33.47,-237.94,360.88,137.01" origBoundary="-79.371708,43.846679,-79.369237,43.847436" projParameter="+proj=utm +zone=17 +ellps=WGS84 +datum=WGS84 +units=m +no_defs"/>
+
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+    <type id="highway.bus_guideway" priority="1" numLanes="1" speed="27.78" allow="bus" oneway="1"/>
+    <type id="highway.cycleway" priority="1" numLanes="1" speed="8.33" allow="bicycle" oneway="1" width="1.00"/>
+    <type id="highway.footway" priority="1" numLanes="1" speed="2.78" allow="pedestrian" oneway="1" width="2.00"/>
+    <type id="highway.ford" priority="1" numLanes="1" speed="2.78" allow="army" oneway="1"/>
+    <type id="highway.living_street" priority="2" numLanes="1" speed="2.78" disallow="tram rail_urban rail rail_electric ship" oneway="1"/>
+    <type id="highway.motorway" priority="14" numLanes="2" speed="39.44" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" oneway="1"/>
+    <type id="highway.motorway_link" priority="9" numLanes="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" oneway="1"/>
+    <type id="highway.path" priority="1" numLanes="1" speed="2.78" allow="pedestrian bicycle" oneway="1" width="2.00"/>
+    <type id="highway.pedestrian" priority="1" numLanes="1" speed="2.78" allow="pedestrian" oneway="1" width="2.00"/>
+    <type id="highway.primary" priority="12" numLanes="2" speed="27.78" disallow="tram rail_urban rail rail_electric ship" oneway="1"/>
+    <type id="highway.primary_link" priority="7" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="1"/>
+    <type id="highway.raceway" priority="15" numLanes="2" speed="83.33" allow="vip" oneway="1"/>
+    <type id="highway.residential" priority="3" numLanes="1" speed="13.89" disallow="tram rail_urban rail rail_electric ship" oneway="1"/>
+    <type id="highway.secondary" priority="11" numLanes="2" speed="27.78" disallow="tram rail_urban rail rail_electric ship" oneway="1"/>
+    <type id="highway.secondary_link" priority="6" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="1"/>
+    <type id="highway.service" priority="1" numLanes="1" speed="5.56" allow="pedestrian delivery bicycle" oneway="1"/>
+    <type id="highway.stairs" priority="1" numLanes="1" speed="1.39" allow="pedestrian" oneway="1" width="2.00"/>
+    <type id="highway.step" priority="1" numLanes="1" speed="1.39" allow="pedestrian" oneway="1" width="2.00"/>
+    <type id="highway.steps" priority="1" numLanes="1" speed="1.39" allow="pedestrian" oneway="1" width="2.00"/>
+    <type id="highway.tertiary" priority="10" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="1"/>
+    <type id="highway.tertiary_link" priority="5" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="1"/>
+    <type id="highway.track" priority="1" numLanes="1" speed="5.56" disallow="tram rail_urban rail rail_electric ship" oneway="1"/>
+    <type id="highway.trunk" priority="13" numLanes="2" speed="27.78" disallow="pedestrian bicycle tram rail_urban rail rail_electric ship" oneway="1"/>
+    <type id="highway.trunk_link" priority="8" numLanes="1" speed="22.22" disallow="pedestrian bicycle tram rail_urban rail rail_electric ship" oneway="1"/>
+    <type id="highway.unclassified" priority="4" numLanes="1" speed="13.89" disallow="tram rail_urban rail rail_electric ship" oneway="1"/>
+    <type id="highway.unsurfaced" priority="1" numLanes="1" speed="8.33" disallow="tram rail_urban rail rail_electric ship" oneway="1"/>
+    <type id="railway.light_rail" priority="19" numLanes="1" speed="27.78" allow="rail_urban" oneway="1"/>
+    <type id="railway.preserved" priority="16" numLanes="1" speed="27.78" allow="rail" oneway="1"/>
+    <type id="railway.rail" priority="20" numLanes="1" speed="83.33" allow="rail rail_electric" oneway="1"/>
+    <type id="railway.subway" priority="18" numLanes="1" speed="27.78" allow="rail_urban" oneway="1"/>
+    <type id="railway.tram" priority="17" numLanes="1" speed="13.89" allow="tram" oneway="1"/>
+
+    <edge id=":junction-intersection_0" function="internal">
+        <lane id=":junction-intersection_0_0" index="0" speed="13.89" length="15.49" shape="145.21,-45.59 144.60,-49.80 142.80,-52.80 139.80,-54.60 135.60,-55.20"/>
+    </edge>
+    <edge id=":junction-intersection_1" function="internal">
+        <lane id=":junction-intersection_1_0" index="0" speed="13.89" length="28.80" shape="145.21,-45.59 145.20,-74.40"/>
+        <lane id=":junction-intersection_1_1" index="1" speed="13.89" length="28.80" shape="148.41,-45.60 148.40,-74.40"/>
+    </edge>
+    <edge id=":junction-intersection_3" function="internal">
+        <lane id=":junction-intersection_3_0" index="0" speed="13.89" length="5.60" shape="148.41,-45.60 149.20,-51.14"/>
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+    <edge id=":junction-intersection_16" function="internal">
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+    </edge>
+    <edge id=":junction-intersection_5" function="internal">
+        <lane id=":junction-intersection_5_0" index="0" speed="13.89" length="28.80" shape="164.40,-55.20 135.60,-55.20"/>
+        <lane id=":junction-intersection_5_1" index="1" speed="13.89" length="28.80" shape="164.40,-58.40 135.60,-58.40"/>
+    </edge>
+    <edge id=":junction-intersection_7" function="internal">
+        <lane id=":junction-intersection_7_0" index="0" speed="13.89" length="5.60" shape="164.40,-58.40 158.86,-59.19"/>
+    </edge>
+    <edge id=":junction-intersection_17" function="internal">
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+    </edge>
+    <edge id=":junction-intersection_9" function="internal">
+        <lane id=":junction-intersection_9_0" index="0" speed="13.89" length="28.80" shape="154.80,-74.40 154.81,-45.60"/>
+        <lane id=":junction-intersection_9_1" index="1" speed="13.89" length="28.80" shape="151.60,-74.40 151.61,-45.60"/>
+    </edge>
+    <edge id=":junction-intersection_11" function="internal">
+        <lane id=":junction-intersection_11_0" index="0" speed="13.89" length="5.60" shape="151.60,-74.40 150.81,-68.86"/>
+    </edge>
+    <edge id=":junction-intersection_18" function="internal">
+        <lane id=":junction-intersection_18_0" index="0" speed="13.89" length="20.21" shape="150.81,-68.86 150.60,-67.40 147.60,-62.40 142.60,-59.40 135.60,-58.40"/>
+    </edge>
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+        <lane id=":junction-intersection_12_0" index="0" speed="13.89" length="15.48" shape="135.60,-64.80 139.80,-65.40 142.80,-67.20 144.60,-70.20 145.20,-74.40"/>
+    </edge>
+    <edge id=":junction-intersection_13" function="internal">
+        <lane id=":junction-intersection_13_0" index="0" speed="13.89" length="28.80" shape="135.60,-64.80 164.40,-64.80"/>
+        <lane id=":junction-intersection_13_1" index="1" speed="13.89" length="28.80" shape="135.60,-61.60 164.40,-61.60"/>
+    </edge>
+    <edge id=":junction-intersection_15" function="internal">
+        <lane id=":junction-intersection_15_0" index="0" speed="13.89" length="5.60" shape="135.60,-61.60 141.14,-60.81"/>
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+    <edge id=":junction-intersection_19" function="internal">
+        <lane id=":junction-intersection_19_0" index="0" speed="13.89" length="20.21" shape="141.14,-60.81 142.60,-60.60 147.60,-57.60 150.60,-52.60 151.61,-45.60"/>
+    </edge>
+
+    <edge id="edge-east-EW" from="gneJ11" to="junction-intersection" priority="1">
+        <lane id="edge-east-EW_0" index="0" speed="13.89" length="196.48" shape="360.88,-55.18 164.40,-55.20"/>
+        <lane id="edge-east-EW_1" index="1" speed="13.89" length="196.48" shape="360.88,-58.38 164.40,-58.40"/>
+    </edge>
+    <edge id="edge-east-WE" from="junction-intersection" to="gneJ11" priority="1">
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+    <edge id="edge-north-NS" from="gneJ17" to="junction-intersection" priority="1">
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+    <edge id="edge-south-NS" from="junction-intersection" to="gneJ23" priority="1">
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+    <edge id="edge-south-SN" from="gneJ23" to="junction-intersection" priority="1">
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+    <edge id="edge-west-EW" from="junction-intersection" to="gneJ12" priority="1">
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+    <edge id="edge-west-WE" from="gneJ12" to="junction-intersection" priority="1">
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+        <lane id="edge-west-WE_1" index="1" speed="13.89" length="169.07" shape="-33.47,-61.57 135.60,-61.60"/>
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+    <junction id="gneJ11" type="dead_end" x="360.88" y="-59.98" incLanes="edge-east-WE_0 edge-east-WE_1" intLanes="" shape="360.88,-59.98 360.88,-66.38 360.88,-59.98"/>
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+    <connection from="edge-east-EW" to="edge-north-SN" fromLane="0" toLane="0" via=":junction-intersection_4_0" dir="r" state="m"/>
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+    <connection from="edge-north-NS" to="edge-west-EW" fromLane="0" toLane="0" via=":junction-intersection_0_0" dir="r" state="m"/>
+    <connection from="edge-north-NS" to="edge-south-NS" fromLane="0" toLane="0" via=":junction-intersection_1_0" dir="s" state="m"/>
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+    <connection from="edge-south-SN" to="edge-north-SN" fromLane="0" toLane="0" via=":junction-intersection_9_0" dir="s" state="m"/>
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+    <connection from=":junction-intersection_0" to="edge-west-EW" fromLane="0" toLane="0" dir="r" state="M"/>
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diff --git a/ultra/ultra/scenarios/pool/4lane_c/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/4lane_c/70kmh/map.net.xml
old mode 100755
new mode 100644
index d2931112f5..020ec44e68
--- a/ultra/ultra/scenarios/pool/4lane_c/70kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/4lane_c/70kmh/map.net.xml
@@ -1,250 +1,228 @@
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+    <connection from=":junction-intersection_13" to="edge-east-WE" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":junction-intersection_15" to="edge-north-SN" fromLane="0" toLane="1" via=":junction-intersection_19_0" dir="l" state="m"/>
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diff --git a/ultra/ultra/scenarios/pool/4lane_c/info.json b/ultra/ultra/scenarios/pool/4lane_c/info.json
old mode 100755
new mode 100644
diff --git a/ultra/ultra/scenarios/pool/4lane_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/4lane_t/100kmh/map.net.xml
old mode 100755
new mode 100644
index 2ed52f8865..b423a2b9ac
--- a/ultra/ultra/scenarios/pool/4lane_t/100kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/4lane_t/100kmh/map.net.xml
@@ -1,154 +1,132 @@
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diff --git a/ultra/ultra/scenarios/pool/4lane_t/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/4lane_t/50kmh/map.net.xml
old mode 100755
new mode 100644
index ed49d0e6ac..09cfc2319a
--- a/ultra/ultra/scenarios/pool/4lane_t/50kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/4lane_t/50kmh/map.net.xml
@@ -1,154 +1,132 @@
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diff --git a/ultra/ultra/scenarios/pool/4lane_t/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/4lane_t/70kmh/map.net.xml
old mode 100755
new mode 100644
index b9950093a4..95f4465be6
--- a/ultra/ultra/scenarios/pool/4lane_t/70kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/4lane_t/70kmh/map.net.xml
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diff --git a/ultra/ultra/scenarios/pool/4lane_t/info.json b/ultra/ultra/scenarios/pool/4lane_t/info.json
old mode 100755
new mode 100644
diff --git a/ultra/ultra/scenarios/pool/5lane_c/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/5lane_c/100kmh/map.net.xml
old mode 100755
new mode 100644
index 8c53b1623d..4d13414329
--- a/ultra/ultra/scenarios/pool/5lane_c/100kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/5lane_c/100kmh/map.net.xml
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diff --git a/ultra/ultra/scenarios/pool/5lane_c/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/5lane_c/50kmh/map.net.xml
old mode 100755
new mode 100644
index 79f08fc267..94aa260a39
--- a/ultra/ultra/scenarios/pool/5lane_c/50kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/5lane_c/50kmh/map.net.xml
@@ -1,256 +1,234 @@
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+    <junction id="gneJ11" type="dead_end" x="360.88" y="-59.98" incLanes="edge-east-WE_0 edge-east-WE_1" intLanes="" shape="360.88,-59.98 360.88,-66.38 360.88,-59.98"/>
+    <junction id="gneJ12" type="dead_end" x="-33.47" y="-59.97" incLanes="edge-west-EW_0 edge-west-EW_1 edge-west-EW_2" intLanes="" shape="-33.47,-59.97 -33.47,-50.37 -33.47,-59.97"/>
+    <junction id="gneJ17" type="dead_end" x="149.99" y="87.45" incLanes="edge-north-SN_0 edge-north-SN_1" intLanes="" shape="149.99,87.45 156.39,87.45 149.99,87.45"/>
+    <junction id="gneJ23" type="dead_end" x="149.97" y="-237.94" incLanes="edge-south-NS_0 edge-south-NS_1" intLanes="" shape="149.97,-237.94 143.57,-237.94 149.97,-237.94"/>
+    <junction id="junction-intersection" type="priority" x="150.00" y="-60.00" incLanes="edge-north-NS_0 edge-north-NS_1 edge-east-EW_0 edge-east-EW_1 edge-east-EW_2 edge-south-SN_0 edge-south-SN_1 edge-west-WE_0 edge-west-WE_1" intLanes=":junction-intersection_0_0 :junction-intersection_1_0 :junction-intersection_1_1 :junction-intersection_17_0 :junction-intersection_4_0 :junction-intersection_5_0 :junction-intersection_5_1 :junction-intersection_5_2 :junction-intersection_18_0 :junction-intersection_9_0 :junction-intersection_10_0 :junction-intersection_10_1 :junction-intersection_19_0 :junction-intersection_13_0 :junction-intersection_14_0 :junction-intersection_14_1 :junction-intersection_20_0" shape="143.60,-42.40 156.40,-42.40 156.62,-44.84 157.29,-46.84 158.40,-48.40 159.95,-49.51 161.95,-50.18 164.40,-50.40 164.40,-66.40 161.96,-66.62 159.96,-67.29 158.40,-68.40 157.29,-69.96 156.62,-71.96 156.40,-74.40 143.60,-74.40 143.38,-71.95 142.71,-69.95 141.60,-68.40 140.04,-67.29 138.04,-66.62 135.60,-66.40 135.60,-50.40 138.04,-50.18 140.04,-49.51 141.60,-48.40 142.71,-46.84 143.38,-44.84" radius="8.00" rightOfWay="edgePriority">
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+    <connection from=":junction-intersection_0" to="edge-west-EW" fromLane="0" toLane="0" dir="r" state="M"/>
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+    <connection from=":junction-intersection_5" to="edge-west-EW" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":junction-intersection_5" to="edge-west-EW" fromLane="1" toLane="1" dir="s" state="M"/>
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+    <connection from=":junction-intersection_13" to="edge-south-NS" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":junction-intersection_14" to="edge-east-WE" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":junction-intersection_14" to="edge-east-WE" fromLane="1" toLane="1" dir="s" state="M"/>
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+    <connection from=":junction-intersection_20" to="edge-north-SN" fromLane="0" toLane="1" dir="l" state="M"/>
+
+</net>
diff --git a/ultra/ultra/scenarios/pool/5lane_c/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/5lane_c/70kmh/map.net.xml
old mode 100755
new mode 100644
index dd368ccedb..37a8bf0731
--- a/ultra/ultra/scenarios/pool/5lane_c/70kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/5lane_c/70kmh/map.net.xml
@@ -1,256 +1,234 @@
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-<!-- generated on Wed 30 Sep 13:55:06 2020 by Eclipse SUMO netedit Version 1.5.0
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-    <output>
-        <output-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/5lane_c/70kmh/map.net.xml"/>
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-        <lefthand value="false"/>
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-    <junctions>
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-        <junctions.limit-turn-speed value="-1"/>
-        <rectangular-lane-cut value="false"/>
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-
-    <pedestrian>
-        <walkingareas value="false"/>
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-    <report>
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-</configuration>
--->
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+    <output>
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+
+    <pedestrian>
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+    <report>
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+    <connection from=":junction-intersection_13" to="edge-south-NS" fromLane="0" toLane="0" dir="r" state="M"/>
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+    <connection from=":junction-intersection_14" to="edge-east-WE" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":junction-intersection_16" to="edge-north-SN" fromLane="0" toLane="1" via=":junction-intersection_20_0" dir="l" state="m"/>
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+</net>
diff --git a/ultra/ultra/scenarios/pool/5lane_c/info.json b/ultra/ultra/scenarios/pool/5lane_c/info.json
old mode 100755
new mode 100644
diff --git a/ultra/ultra/scenarios/pool/5lane_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/5lane_t/100kmh/map.net.xml
old mode 100755
new mode 100644
index 86530adc29..cb7e1abf83
--- a/ultra/ultra/scenarios/pool/5lane_t/100kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/5lane_t/100kmh/map.net.xml
@@ -1,171 +1,147 @@
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-<!-- generated on Wed  2 Sep 12:46:48 2020 by Eclipse SUMO netedit Version 1.5.0
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-    <output>
-        <output-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/5lane_t/120kmh/map.net.xml"/>
-    </output>
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-    <processing>
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-        <geometry.max-grade.fix value="false"/>
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-        <lefthand value="false"/>
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-        <junctions.limit-turn-speed value="-1"/>
-        <rectangular-lane-cut value="false"/>
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-    <pedestrian>
-        <walkingareas value="false"/>
-    </pedestrian>
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-    <report>
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-</configuration>
--->
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diff --git a/ultra/ultra/scenarios/pool/5lane_t/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/5lane_t/50kmh/map.net.xml
old mode 100755
new mode 100644
index 387bd57c54..4c4ab8b92c
--- a/ultra/ultra/scenarios/pool/5lane_t/50kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/5lane_t/50kmh/map.net.xml
@@ -1,171 +1,147 @@
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diff --git a/ultra/ultra/scenarios/pool/5lane_t/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/5lane_t/70kmh/map.net.xml
old mode 100755
new mode 100644
index 072016a009..ba21f5f9d3
--- a/ultra/ultra/scenarios/pool/5lane_t/70kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/5lane_t/70kmh/map.net.xml
@@ -1,171 +1,147 @@
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-    <pedestrian>
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-    <report>
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--->
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diff --git a/ultra/ultra/scenarios/pool/5lane_t/info.json b/ultra/ultra/scenarios/pool/5lane_t/info.json
old mode 100755
new mode 100644
diff --git a/ultra/ultra/scenarios/pool/6lane_c/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/6lane_c/100kmh/map.net.xml
old mode 100755
new mode 100644
index e7142db6bf..36070dc7f1
--- a/ultra/ultra/scenarios/pool/6lane_c/100kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/6lane_c/100kmh/map.net.xml
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-        <walkingareas value="false"/>
-    </pedestrian>
-
-    <report>
-        <aggregate-warnings value="5"/>
-    </report>
-
-</configuration>
--->
-
-<net version="1.3" junctionCornerDetail="5" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/net_file.xsd">
-
-    <location netOffset="-630882.85,-4856133.12" convBoundary="-35.79,-237.94,360.88,87.45" origBoundary="-79.371708,43.846679,-79.369237,43.847436" projParameter="+proj=utm +zone=17 +ellps=WGS84 +datum=WGS84 +units=m +no_defs"/>
-
-    <type id="highway.bridleway" priority="1" numLanes="1" speed="2.78" allow="pedestrian" oneway="1" width="2.00"/>
-    <type id="highway.bus_guideway" priority="1" numLanes="1" speed="27.78" allow="bus" oneway="1"/>
-    <type id="highway.cycleway" priority="1" numLanes="1" speed="8.33" allow="bicycle" oneway="0" width="1.00"/>
-    <type id="highway.footway" priority="1" numLanes="1" speed="2.78" allow="pedestrian" oneway="1" width="2.00"/>
-    <type id="highway.ford" priority="1" numLanes="1" speed="2.78" allow="army" oneway="0"/>
-    <type id="highway.living_street" priority="2" numLanes="1" speed="2.78" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
-    <type id="highway.motorway" priority="14" numLanes="2" speed="39.44" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" oneway="1"/>
-    <type id="highway.motorway_link" priority="9" numLanes="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" oneway="1"/>
-    <type id="highway.path" priority="1" numLanes="1" speed="2.78" allow="pedestrian bicycle" oneway="1" width="2.00"/>
-    <type id="highway.pedestrian" priority="1" numLanes="1" speed="2.78" allow="pedestrian" oneway="1" width="2.00"/>
-    <type id="highway.primary" priority="12" numLanes="2" speed="27.78" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
-    <type id="highway.primary_link" priority="7" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
-    <type id="highway.raceway" priority="15" numLanes="2" speed="83.33" allow="vip" oneway="0"/>
-    <type id="highway.residential" priority="3" numLanes="1" speed="13.89" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
-    <type id="highway.secondary" priority="11" numLanes="2" speed="27.78" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
-    <type id="highway.secondary_link" priority="6" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
-    <type id="highway.service" priority="1" numLanes="1" speed="5.56" allow="pedestrian delivery bicycle" oneway="0"/>
-    <type id="highway.stairs" priority="1" numLanes="1" speed="1.39" allow="pedestrian" oneway="1" width="2.00"/>
-    <type id="highway.step" priority="1" numLanes="1" speed="1.39" allow="pedestrian" oneway="1" width="2.00"/>
-    <type id="highway.steps" priority="1" numLanes="1" speed="1.39" allow="pedestrian" oneway="1" width="2.00"/>
-    <type id="highway.tertiary" priority="10" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
-    <type id="highway.tertiary_link" priority="5" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
-    <type id="highway.track" priority="1" numLanes="1" speed="5.56" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
-    <type id="highway.trunk" priority="13" numLanes="2" speed="27.78" disallow="pedestrian bicycle tram rail_urban rail rail_electric ship" oneway="0"/>
-    <type id="highway.trunk_link" priority="8" numLanes="1" speed="22.22" disallow="pedestrian bicycle tram rail_urban rail rail_electric ship" oneway="0"/>
-    <type id="highway.unclassified" priority="4" numLanes="1" speed="13.89" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
-    <type id="highway.unsurfaced" priority="1" numLanes="1" speed="8.33" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
-    <type id="railway.light_rail" priority="19" numLanes="1" speed="27.78" allow="rail_urban" oneway="1"/>
-    <type id="railway.preserved" priority="16" numLanes="1" speed="27.78" allow="rail" oneway="1"/>
-    <type id="railway.rail" priority="20" numLanes="1" speed="83.33" allow="rail rail_electric" oneway="1"/>
-    <type id="railway.subway" priority="18" numLanes="1" speed="27.78" allow="rail_urban" oneway="1"/>
-    <type id="railway.tram" priority="17" numLanes="1" speed="13.89" allow="tram" oneway="1"/>
-
-    <edge id=":gneJ23_0" function="internal">
-        <lane id=":gneJ23_0_0" index="0" speed="20.84" length="9.03" shape="145.17,-230.74 144.82,-233.19 143.77,-234.94 142.02,-235.99 139.57,-236.34"/>
-    </edge>
-    <edge id=":gneJ25_0" function="internal">
-        <lane id=":gneJ25_0_0" index="0" speed="13.89" length="2.58" shape="-32.59,-236.29 -33.29,-236.19 -33.79,-235.89 -34.09,-235.39 -34.19,-234.69"/>
-    </edge>
-    <edge id=":junction-intersection_0" function="internal">
-        <lane id=":junction-intersection_0_0" index="0" speed="20.84" length="15.48" shape="145.20,-42.40 144.60,-46.60 142.80,-49.60 139.80,-51.40 135.60,-52.00"/>
-    </edge>
-    <edge id=":junction-intersection_1" function="internal">
-        <lane id=":junction-intersection_1_0" index="0" speed="27.78" length="35.20" shape="145.20,-42.40 145.20,-77.60"/>
-        <lane id=":junction-intersection_1_1" index="1" speed="27.78" length="35.20" shape="148.40,-42.40 148.40,-77.60"/>
-    </edge>
-    <edge id=":junction-intersection_3" function="internal">
-        <lane id=":junction-intersection_3_0" index="0" speed="20.84" length="6.72" shape="148.40,-42.40 149.19,-49.07"/>
-    </edge>
-    <edge id=":junction-intersection_18" function="internal">
-        <lane id=":junction-intersection_18_0" index="0" speed="20.84" length="21.71" shape="149.19,-49.07 149.40,-50.80 152.40,-56.80 157.40,-60.40 164.40,-61.60"/>
-    </edge>
-    <edge id=":junction-intersection_4" function="internal">
-        <lane id=":junction-intersection_4_0" index="0" speed="20.84" length="15.48" shape="164.40,-52.00 160.20,-51.40 157.20,-49.60 155.40,-46.60 154.80,-42.40"/>
-    </edge>
-    <edge id=":junction-intersection_5" function="internal">
-        <lane id=":junction-intersection_5_0" index="0" speed="13.89" length="28.80" shape="164.40,-52.00 135.60,-52.00"/>
-        <lane id=":junction-intersection_5_1" index="1" speed="13.89" length="28.80" shape="164.40,-55.20 135.60,-55.20"/>
-        <lane id=":junction-intersection_5_2" index="2" speed="13.89" length="28.80" shape="164.40,-58.40 135.60,-58.40"/>
-    </edge>
-    <edge id=":junction-intersection_8" function="internal">
-        <lane id=":junction-intersection_8_0" index="0" speed="20.84" length="4.67" shape="164.40,-58.40 159.80,-59.19"/>
-    </edge>
-    <edge id=":junction-intersection_19" function="internal">
-        <lane id=":junction-intersection_19_0" index="0" speed="20.84" length="23.77" shape="159.80,-59.19 157.40,-59.60 152.40,-63.20 149.40,-69.20 148.40,-77.60"/>
-    </edge>
-    <edge id=":junction-intersection_9" function="internal">
-        <lane id=":junction-intersection_9_0" index="0" speed="20.84" length="15.49" shape="154.80,-77.60 155.40,-73.40 157.20,-70.40 160.20,-68.60 164.40,-68.00"/>
-    </edge>
-    <edge id=":junction-intersection_10" function="internal">
-        <lane id=":junction-intersection_10_0" index="0" speed="27.78" length="35.20" shape="154.80,-77.60 154.80,-42.40"/>
-        <lane id=":junction-intersection_10_1" index="1" speed="27.78" length="35.20" shape="151.60,-77.60 151.60,-42.40"/>
-    </edge>
-    <edge id=":junction-intersection_12" function="internal">
-        <lane id=":junction-intersection_12_0" index="0" speed="20.84" length="6.72" shape="151.60,-77.60 150.80,-70.93"/>
-    </edge>
-    <edge id=":junction-intersection_20" function="internal">
-        <lane id=":junction-intersection_20_0" index="0" speed="20.84" length="21.71" shape="150.80,-70.93 150.60,-69.20 147.60,-63.20 142.60,-59.60 135.60,-58.40"/>
-    </edge>
-    <edge id=":junction-intersection_13" function="internal">
-        <lane id=":junction-intersection_13_0" index="0" speed="20.84" length="15.48" shape="135.60,-68.00 139.80,-68.60 142.80,-70.40 144.60,-73.40 145.20,-77.60"/>
-    </edge>
-    <edge id=":junction-intersection_14" function="internal">
-        <lane id=":junction-intersection_14_0" index="0" speed="13.89" length="28.80" shape="135.60,-68.00 164.40,-68.00"/>
-        <lane id=":junction-intersection_14_1" index="1" speed="13.89" length="28.80" shape="135.60,-64.80 164.40,-64.80"/>
-        <lane id=":junction-intersection_14_2" index="2" speed="13.89" length="28.80" shape="135.60,-61.60 164.40,-61.60"/>
-    </edge>
-    <edge id=":junction-intersection_17" function="internal">
-        <lane id=":junction-intersection_17_0" index="0" speed="20.84" length="4.67" shape="135.60,-61.60 140.20,-60.81"/>
-    </edge>
-    <edge id=":junction-intersection_21" function="internal">
-        <lane id=":junction-intersection_21_0" index="0" speed="20.84" length="23.77" shape="140.20,-60.81 142.60,-60.40 147.60,-56.80 150.60,-50.80 151.60,-42.40"/>
-    </edge>
-
-    <edge id="edge-dead-end" from="gneJ25" to="gneJ26" priority="-1">
-        <lane id="edge-dead-end_0" index="0" speed="13.89" length="44.99" shape="-34.19,-234.69 -34.19,-189.70"/>
-    </edge>
-    <edge id="edge-east-EW" from="gneJ11" to="junction-intersection" priority="1">
-        <lane id="edge-east-EW_0" index="0" speed="13.89" length="196.48" shape="360.88,-51.98 164.40,-52.00"/>
-        <lane id="edge-east-EW_1" index="1" speed="13.89" length="196.48" shape="360.88,-55.18 164.40,-55.20"/>
-        <lane id="edge-east-EW_2" index="2" speed="13.89" length="196.48" shape="360.88,-58.38 164.40,-58.40"/>
-    </edge>
-    <edge id="edge-east-WE" from="junction-intersection" to="gneJ11" priority="1">
-        <lane id="edge-east-WE_0" index="0" speed="13.89" length="196.48" shape="164.40,-68.00 360.88,-67.98"/>
-        <lane id="edge-east-WE_1" index="1" speed="13.89" length="196.48" shape="164.40,-64.80 360.88,-64.78"/>
-        <lane id="edge-east-WE_2" index="2" speed="13.89" length="196.48" shape="164.40,-61.60 360.88,-61.58"/>
-    </edge>
-    <edge id="edge-north-NS" from="gneJ17" to="junction-intersection" priority="1">
-        <lane id="edge-north-NS_0" index="0" speed="27.78" length="129.85" shape="145.19,87.45 145.20,-42.40"/>
-        <lane id="edge-north-NS_1" index="1" speed="27.78" length="129.85" shape="148.39,87.45 148.40,-42.40"/>
-    </edge>
-    <edge id="edge-north-SN" from="junction-intersection" to="gneJ17" priority="1">
-        <lane id="edge-north-SN_0" index="0" speed="27.78" length="129.85" shape="154.80,-42.40 154.79,87.45"/>
-        <lane id="edge-north-SN_1" index="1" speed="27.78" length="129.85" shape="151.60,-42.40 151.59,87.45"/>
-    </edge>
-    <edge id="edge-south-NS" from="junction-intersection" to="gneJ23" priority="1">
-        <lane id="edge-south-NS_0" index="0" speed="27.78" length="153.14" shape="145.20,-77.60 145.17,-230.74"/>
-        <lane id="edge-south-NS_1" index="1" speed="27.78" length="153.14" shape="148.40,-77.60 148.37,-230.74"/>
-    </edge>
-    <edge id="edge-south-SN" from="gneJ23" to="junction-intersection" priority="1">
-        <lane id="edge-south-SN_0" index="0" speed="27.78" length="153.14" shape="154.77,-230.74 154.80,-77.60"/>
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-    <edge id="edge-south-side" from="gneJ23" to="gneJ25" priority="-1">
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-    </edge>
-    <edge id="edge-west-EW" from="junction-intersection" to="gneJ12" priority="1">
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-    <edge id="edge-west-WE" from="gneJ12" to="junction-intersection" priority="1">
-        <lane id="edge-west-WE_0" index="0" speed="13.89" length="169.07" shape="-33.47,-67.97 135.60,-68.00"/>
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-        <lane id="edge-west-WE_2" index="2" speed="13.89" length="169.07" shape="-33.47,-61.57 135.60,-61.60"/>
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-
-    <junction id="gneJ11" type="dead_end" x="360.88" y="-59.98" incLanes="edge-east-WE_0 edge-east-WE_1 edge-east-WE_2" intLanes="" shape="360.88,-59.98 360.88,-69.58 360.88,-59.98"/>
-    <junction id="gneJ12" type="dead_end" x="-33.47" y="-59.97" incLanes="edge-west-EW_0 edge-west-EW_1 edge-west-EW_2" intLanes="" shape="-33.47,-59.97 -33.47,-50.37 -33.47,-59.97"/>
-    <junction id="gneJ17" type="dead_end" x="149.99" y="87.45" incLanes="edge-north-SN_0 edge-north-SN_1" intLanes="" shape="149.99,87.45 156.39,87.45 149.99,87.45"/>
-    <junction id="gneJ23" type="priority" x="149.97" y="-237.94" incLanes="edge-south-NS_0 edge-south-NS_1" intLanes=":gneJ23_0_0" shape="143.57,-230.74 156.37,-230.74 155.90,-232.94 154.50,-234.74 152.17,-236.14 148.90,-237.14 144.70,-237.74 139.57,-237.94 139.57,-234.74 141.79,-234.29 142.57,-233.74 143.13,-232.96 143.46,-231.96">
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-    </junction>
-    <junction id="gneJ25" type="priority" x="-35.79" y="-237.89" incLanes="edge-south-side_0" intLanes=":gneJ25_0_0" shape="-35.79,-234.69 -32.59,-234.69 -32.59,-237.89 -34.37,-237.53 -34.99,-237.09 -35.43,-236.47 -35.70,-235.67">
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-    <junction id="gneJ26" type="dead_end" x="-35.79" y="-189.70" incLanes="edge-dead-end_0" intLanes="" shape="-32.59,-189.70 -35.79,-189.70"/>
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-        <request index="0"  response="000000000011100000" foes="000000000011100000" cont="0"/>
-        <request index="1"  response="011100000000000000" foes="111111000111100000" cont="0"/>
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-        <request index="8"  response="011100110000001110" foes="011101110000001110" cont="1"/>
-        <request index="9"  response="011100000000000000" foes="011100000000000000" cont="0"/>
-        <request index="10" response="000000000011100000" foes="111100000111111000" cont="0"/>
-        <request index="11" response="000000000011100000" foes="111100000111111000" cont="0"/>
-        <request index="12" response="011100000111100110" foes="111100000111100110" cont="1"/>
-        <request index="13" response="000000000000000110" foes="000000000000000110" cont="0"/>
-        <request index="14" response="000000110000000000" foes="000001111100001110" cont="0"/>
-        <request index="15" response="000000110000000000" foes="000001111100001110" cont="0"/>
-        <request index="16" response="000000110000000000" foes="000001111100001110" cont="0"/>
-        <request index="17" response="000001110011100110" foes="000001110011101110" cont="1"/>
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-
-    <junction id=":junction-intersection_18_0" type="internal" x="149.19" y="-49.07" incLanes=":junction-intersection_3_0 edge-east-EW_0 edge-east-EW_1 edge-east-EW_2 edge-south-SN_0 edge-south-SN_1 edge-west-WE_0 edge-west-WE_1 edge-west-WE_2" intLanes=":junction-intersection_5_0 :junction-intersection_5_1 :junction-intersection_5_2 :junction-intersection_8_0 :junction-intersection_9_0 :junction-intersection_10_0 :junction-intersection_10_1 :junction-intersection_14_0 :junction-intersection_14_1 :junction-intersection_14_2 :junction-intersection_17_0"/>
-    <junction id=":junction-intersection_19_0" type="internal" x="159.80" y="-59.19" incLanes=":junction-intersection_8_0 edge-north-NS_0 edge-north-NS_1 edge-south-SN_0 edge-south-SN_1 edge-west-WE_0 edge-west-WE_1 edge-west-WE_2" intLanes=":junction-intersection_1_0 :junction-intersection_1_1 :junction-intersection_3_0 :junction-intersection_10_0 :junction-intersection_10_1 :junction-intersection_12_0 :junction-intersection_13_0 :junction-intersection_14_0 :junction-intersection_14_1 :junction-intersection_14_2"/>
-    <junction id=":junction-intersection_20_0" type="internal" x="150.80" y="-70.93" incLanes=":junction-intersection_12_0 edge-east-EW_0 edge-east-EW_1 edge-east-EW_2 edge-north-NS_0 edge-north-NS_1 edge-west-WE_0 edge-west-WE_1 edge-west-WE_2" intLanes=":junction-intersection_0_0 :junction-intersection_1_0 :junction-intersection_1_1 :junction-intersection_5_0 :junction-intersection_5_1 :junction-intersection_5_2 :junction-intersection_8_0 :junction-intersection_14_0 :junction-intersection_14_1 :junction-intersection_14_2 :junction-intersection_17_0"/>
-    <junction id=":junction-intersection_21_0" type="internal" x="140.20" y="-60.81" incLanes=":junction-intersection_17_0 edge-east-EW_0 edge-east-EW_1 edge-east-EW_2 edge-north-NS_0 edge-north-NS_1 edge-south-SN_0 edge-south-SN_1" intLanes=":junction-intersection_1_0 :junction-intersection_1_1 :junction-intersection_3_0 :junction-intersection_4_0 :junction-intersection_5_0 :junction-intersection_5_1 :junction-intersection_5_2 :junction-intersection_10_0 :junction-intersection_10_1 :junction-intersection_12_0"/>
-
-    <connection from="edge-east-EW" to="edge-north-SN" fromLane="0" toLane="0" via=":junction-intersection_4_0" dir="r" state="m"/>
-    <connection from="edge-east-EW" to="edge-west-EW" fromLane="0" toLane="0" via=":junction-intersection_5_0" dir="s" state="m"/>
-    <connection from="edge-east-EW" to="edge-west-EW" fromLane="1" toLane="1" via=":junction-intersection_5_1" dir="s" state="m"/>
-    <connection from="edge-east-EW" to="edge-west-EW" fromLane="2" toLane="2" via=":junction-intersection_5_2" dir="s" state="m"/>
-    <connection from="edge-east-EW" to="edge-south-NS" fromLane="2" toLane="1" via=":junction-intersection_8_0" dir="l" state="m"/>
-    <connection from="edge-north-NS" to="edge-west-EW" fromLane="0" toLane="0" via=":junction-intersection_0_0" dir="r" state="m"/>
-    <connection from="edge-north-NS" to="edge-south-NS" fromLane="0" toLane="0" via=":junction-intersection_1_0" dir="s" state="m"/>
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diff --git a/ultra/ultra/scenarios/pool/6lane_c/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/6lane_c/50kmh/map.net.xml
old mode 100755
new mode 100644
index aeeba1fcf2..d2eb541791
--- a/ultra/ultra/scenarios/pool/6lane_c/50kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/6lane_c/50kmh/map.net.xml
@@ -1,262 +1,240 @@
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+<!-- generated on 2021-05-19 09:29:51 by Eclipse SUMO netedit Version 1.9.2
+<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
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+    <input>
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+    </input>
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+    <output>
+        <output-file value="C:\Users\j84181432\Documents\pool\6lane_c\50kmh\map.net.xml"/>
+    </output>
+
+    <processing>
+        <geometry.min-radius.fix.railways value="false"/>
+        <geometry.max-grade.fix value="false"/>
+        <offset.disable-normalization value="true"/>
+        <lefthand value="false"/>
+    </processing>
+
+    <junctions>
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+        <junctions.corner-detail value="5"/>
+        <junctions.limit-turn-speed value="-1"/>
+        <rectangular-lane-cut value="false"/>
+    </junctions>
+
+    <pedestrian>
+        <walkingareas value="false"/>
+    </pedestrian>
+
+    <report>
+        <aggregate-warnings value="5"/>
+    </report>
+
+</configuration>
+-->
+
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+    <junction id="gneJ11" type="dead_end" x="360.88" y="-59.98" incLanes="edge-east-WE_0 edge-east-WE_1 edge-east-WE_2" intLanes="" shape="360.88,-59.98 360.88,-69.58 360.88,-59.98"/>
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+</net>
diff --git a/ultra/ultra/scenarios/pool/6lane_c/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/6lane_c/70kmh/map.net.xml
old mode 100755
new mode 100644
index f2c7412af4..a31f043d47
--- a/ultra/ultra/scenarios/pool/6lane_c/70kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/6lane_c/70kmh/map.net.xml
@@ -1,262 +1,240 @@
-<?xml version="1.0" encoding="UTF-8"?>
-
-<!-- generated on Wed 30 Sep 13:57:01 2020 by Eclipse SUMO netedit Version 1.5.0
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-
-    <input>
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-    </input>
-
-    <output>
-        <output-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/6lane_c/70kmh/map.net.xml"/>
-    </output>
-
-    <processing>
-        <geometry.min-radius.fix.railways value="false"/>
-        <geometry.max-grade.fix value="false"/>
-        <offset.disable-normalization value="true"/>
-        <lefthand value="false"/>
-    </processing>
-
-    <junctions>
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-        <junctions.corner-detail value="5"/>
-        <junctions.limit-turn-speed value="-1"/>
-        <rectangular-lane-cut value="false"/>
-    </junctions>
-
-    <pedestrian>
-        <walkingareas value="false"/>
-    </pedestrian>
-
-    <report>
-        <aggregate-warnings value="5"/>
-    </report>
-
-</configuration>
--->
-
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-    <location netOffset="-630882.85,-4856133.12" convBoundary="-35.09,-237.94,360.88,87.45" origBoundary="-79.371708,43.846679,-79.369237,43.847436" projParameter="+proj=utm +zone=17 +ellps=WGS84 +datum=WGS84 +units=m +no_defs"/>
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diff --git a/ultra/ultra/scenarios/pool/6lane_c/info.json b/ultra/ultra/scenarios/pool/6lane_c/info.json
old mode 100755
new mode 100644
diff --git a/ultra/ultra/scenarios/pool/6lane_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/6lane_t/100kmh/map.net.xml
old mode 100755
new mode 100644
index 7bd42adeb7..e1ab33b7a8
--- a/ultra/ultra/scenarios/pool/6lane_t/100kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/6lane_t/100kmh/map.net.xml
@@ -1,177 +1,153 @@
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diff --git a/ultra/ultra/scenarios/pool/6lane_t/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/6lane_t/50kmh/map.net.xml
old mode 100755
new mode 100644
index eaecbccb65..913d56e728
--- a/ultra/ultra/scenarios/pool/6lane_t/50kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/6lane_t/50kmh/map.net.xml
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+    <junctions>
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+    <report>
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diff --git a/ultra/ultra/scenarios/pool/6lane_t/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/6lane_t/70kmh/map.net.xml
old mode 100755
new mode 100644
index 6417498ec0..fffc009728
--- a/ultra/ultra/scenarios/pool/6lane_t/70kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/6lane_t/70kmh/map.net.xml
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diff --git a/ultra/ultra/scenarios/pool/6lane_t/info.json b/ultra/ultra/scenarios/pool/6lane_t/info.json
old mode 100755
new mode 100644
diff --git a/ultra/ultra/scenarios/pool/analysis_pool/2lane_c/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/2lane_c/100kmh/map.net.xml
new file mode 100755
index 0000000000..5f716e1964
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/2lane_c/100kmh/map.net.xml
@@ -0,0 +1,226 @@
+<?xml version="1.0" encoding="UTF-8"?>
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+<!-- generated on Wed 30 Sep 13:43:12 2020 by Eclipse SUMO netedit Version 1.5.0
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+    <input>
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+    </input>
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+    <output>
+        <output-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/2lane_c/100kmh/map.net.xml"/>
+    </output>
+
+    <processing>
+        <geometry.min-radius.fix.railways value="false"/>
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+        <lefthand value="false"/>
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+    <junctions>
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+
+    <pedestrian>
+        <walkingareas value="false"/>
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+    <report>
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+</configuration>
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diff --git a/ultra/ultra/scenarios/pool/analysis_pool/2lane_c/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/2lane_c/50kmh/map.net.xml
new file mode 100755
index 0000000000..14bbacb5d4
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/2lane_c/50kmh/map.net.xml
@@ -0,0 +1,226 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- generated on Wed  2 Sep 12:24:34 2020 by Eclipse SUMO netedit Version 1.5.0
+<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
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+    </input>
+
+    <output>
+        <output-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/2lane_c/40kmh/map.net.xml"/>
+    </output>
+
+    <processing>
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+        <lefthand value="false"/>
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+    <junctions>
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+        <rectangular-lane-cut value="false"/>
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+
+    <pedestrian>
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+    <report>
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+</configuration>
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diff --git a/ultra/ultra/scenarios/pool/analysis_pool/2lane_c/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/2lane_c/70kmh/map.net.xml
new file mode 100755
index 0000000000..80552e7a96
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/2lane_c/70kmh/map.net.xml
@@ -0,0 +1,226 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- generated on Wed 30 Sep 13:41:42 2020 by Eclipse SUMO netedit Version 1.5.0
+<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
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+    </input>
+
+    <output>
+        <output-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/2lane_c/70kmh/map.net.xml"/>
+    </output>
+
+    <processing>
+        <geometry.min-radius.fix.railways value="false"/>
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+        <lefthand value="false"/>
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+    <junctions>
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+        <rectangular-lane-cut value="false"/>
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+
+    <pedestrian>
+        <walkingareas value="false"/>
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+    <report>
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diff --git a/ultra/ultra/scenarios/pool/analysis_pool/2lane_c/info.json b/ultra/ultra/scenarios/pool/analysis_pool/2lane_c/info.json
new file mode 100755
index 0000000000..b333c9150c
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_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/analysis_pool/2lane_curvy_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/2lane_curvy_t/100kmh/map.net.xml
new file mode 100755
index 0000000000..7fede6d22f
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/2lane_curvy_t/100kmh/map.net.xml
@@ -0,0 +1,135 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- generated on Thu  8 Oct 09:31:35 2020 by Eclipse SUMO netedit Version 1.5.0
+<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
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+    </input>
+
+    <output>
+        <output-file value="/Users/kimia_hszd/ULTRA/ultra/scenarios/pool/2lane_curvy_t/100kmh/map.net.xml"/>
+    </output>
+
+    <processing>
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+        <geometry.max-grade.fix value="false"/>
+        <offset.disable-normalization value="true"/>
+        <lefthand value="false"/>
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+    <junctions>
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+    <report>
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diff --git a/ultra/ultra/scenarios/pool/analysis_pool/2lane_curvy_t/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/2lane_curvy_t/50kmh/map.net.xml
new file mode 100755
index 0000000000..732f175344
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/2lane_curvy_t/50kmh/map.net.xml
@@ -0,0 +1,135 @@
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diff --git a/ultra/ultra/scenarios/pool/analysis_pool/2lane_curvy_t/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/2lane_curvy_t/70kmh/map.net.xml
new file mode 100755
index 0000000000..a1c4f06afd
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/2lane_curvy_t/70kmh/map.net.xml
@@ -0,0 +1,153 @@
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diff --git a/ultra/ultra/scenarios/pool/analysis_pool/2lane_curvy_t/info.json b/ultra/ultra/scenarios/pool/analysis_pool/2lane_curvy_t/info.json
new file mode 100755
index 0000000000..9e248172a2
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_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/analysis_pool/2lane_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/2lane_t/100kmh/map.net.xml
new file mode 100755
index 0000000000..c237673787
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/2lane_t/100kmh/map.net.xml
@@ -0,0 +1,135 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- generated on Wed  2 Sep 12:42:03 2020 by Eclipse SUMO netedit Version 1.5.0
+<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
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+    <input>
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+        <geometry.max-grade.fix value="false"/>
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+        <lefthand value="false"/>
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+    <report>
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+</net>
diff --git a/ultra/ultra/scenarios/pool/analysis_pool/2lane_t/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/2lane_t/50kmh/map.net.xml
new file mode 100755
index 0000000000..7481187183
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/2lane_t/50kmh/map.net.xml
@@ -0,0 +1,135 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- generated on Wed  2 Sep 12:25:21 2020 by Eclipse SUMO netedit Version 1.5.0
+<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
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+    <input>
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+    <output>
+        <output-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/2lane_t/40kmh/map.net.xml"/>
+    </output>
+
+    <processing>
+        <geometry.min-radius.fix.railways value="false"/>
+        <geometry.max-grade.fix value="false"/>
+        <offset.disable-normalization value="true"/>
+        <lefthand value="false"/>
+    </processing>
+
+    <junctions>
+        <no-turnarounds value="true"/>
+        <junctions.corner-detail value="5"/>
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+        <rectangular-lane-cut value="false"/>
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+    <pedestrian>
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+    <report>
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diff --git a/ultra/ultra/scenarios/pool/analysis_pool/2lane_t/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/2lane_t/70kmh/map.net.xml
new file mode 100755
index 0000000000..de13cd75b4
--- /dev/null
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index 0000000000..9e248172a2
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diff --git a/ultra/ultra/scenarios/pool/analysis_pool/3lane_c/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/3lane_c/100kmh/map.net.xml
new file mode 100755
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diff --git a/ultra/ultra/scenarios/pool/analysis_pool/3lane_c/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/3lane_c/50kmh/map.net.xml
new file mode 100755
index 0000000000..7f9a1e9ff4
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/3lane_c/50kmh/map.net.xml
@@ -0,0 +1,232 @@
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diff --git a/ultra/ultra/scenarios/pool/analysis_pool/3lane_c/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/3lane_c/70kmh/map.net.xml
new file mode 100755
index 0000000000..73361a2983
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/3lane_c/70kmh/map.net.xml
@@ -0,0 +1,232 @@
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diff --git a/ultra/ultra/scenarios/pool/analysis_pool/3lane_c/info.json b/ultra/ultra/scenarios/pool/analysis_pool/3lane_c/info.json
new file mode 100755
index 0000000000..ffb6cb7b37
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_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/analysis_pool/3lane_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/3lane_t/100kmh/map.net.xml
new file mode 100755
index 0000000000..e8ec2f6167
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/3lane_t/100kmh/map.net.xml
@@ -0,0 +1,146 @@
+<?xml version="1.0" encoding="UTF-8"?>
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+<!-- generated on Wed 30 Sep 13:49:25 2020 by Eclipse SUMO netedit Version 1.5.0
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+        <output-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/3lane_t/100kmh/map.net.xml"/>
+    </output>
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+    <processing>
+        <geometry.min-radius.fix.railways value="false"/>
+        <geometry.max-grade.fix value="false"/>
+        <offset.disable-normalization value="true"/>
+        <lefthand value="false"/>
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+    <junctions>
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+        <junctions.limit-turn-speed value="-1"/>
+        <rectangular-lane-cut value="false"/>
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+    <pedestrian>
+        <walkingareas value="false"/>
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+    <report>
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diff --git a/ultra/ultra/scenarios/pool/analysis_pool/3lane_t/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/3lane_t/50kmh/map.net.xml
new file mode 100755
index 0000000000..6336328bdd
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/3lane_t/50kmh/map.net.xml
@@ -0,0 +1,146 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- generated on Wed 30 Sep 13:50:39 2020 by Eclipse SUMO netedit Version 1.5.0
+<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
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+    <input>
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+        <output-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/3lane_t/50kmh/map.net.xml"/>
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+        <geometry.max-grade.fix value="false"/>
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+    <report>
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diff --git a/ultra/ultra/scenarios/pool/analysis_pool/3lane_t/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/3lane_t/70kmh/map.net.xml
new file mode 100755
index 0000000000..a80b5a1323
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/3lane_t/70kmh/map.net.xml
@@ -0,0 +1,146 @@
+<?xml version="1.0" encoding="UTF-8"?>
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+<!-- generated on Wed 30 Sep 13:49:51 2020 by Eclipse SUMO netedit Version 1.5.0
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+    <pedestrian>
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+    <report>
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+</net>
diff --git a/ultra/ultra/scenarios/pool/analysis_pool/3lane_t/info.json b/ultra/ultra/scenarios/pool/analysis_pool/3lane_t/info.json
new file mode 100755
index 0000000000..59c0a60187
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/3lane_t/info.json
@@ -0,0 +1,2 @@
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diff --git a/ultra/ultra/scenarios/pool/analysis_pool/4lane_c/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/4lane_c/100kmh/map.net.xml
new file mode 100755
index 0000000000..1a86868793
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/4lane_c/100kmh/map.net.xml
@@ -0,0 +1,250 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
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+    </output>
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diff --git a/ultra/ultra/scenarios/pool/analysis_pool/4lane_c/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/4lane_c/50kmh/map.net.xml
new file mode 100755
index 0000000000..b0c35eb228
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/4lane_c/50kmh/map.net.xml
@@ -0,0 +1,250 @@
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diff --git a/ultra/ultra/scenarios/pool/analysis_pool/4lane_c/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/4lane_c/70kmh/map.net.xml
new file mode 100755
index 0000000000..d2931112f5
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/4lane_c/70kmh/map.net.xml
@@ -0,0 +1,250 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- generated on Wed 30 Sep 13:51:28 2020 by Eclipse SUMO netedit Version 1.5.0
+<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
+
+    <input>
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+    </input>
+
+    <output>
+        <output-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/4lane_c/70kmh/map.net.xml"/>
+    </output>
+
+    <processing>
+        <geometry.min-radius.fix.railways value="false"/>
+        <geometry.max-grade.fix value="false"/>
+        <offset.disable-normalization value="true"/>
+        <lefthand value="false"/>
+    </processing>
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+    <junctions>
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+        <junctions.corner-detail value="5"/>
+        <junctions.limit-turn-speed value="-1"/>
+        <rectangular-lane-cut value="false"/>
+    </junctions>
+
+    <pedestrian>
+        <walkingareas value="false"/>
+    </pedestrian>
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+    <report>
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+    </report>
+
+</configuration>
+-->
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+    <connection from=":junction-intersection_9" to="edge-north-SN" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":junction-intersection_11" to="edge-west-EW" fromLane="0" toLane="1" via=":junction-intersection_18_0" dir="l" state="m"/>
+    <connection from=":junction-intersection_18" to="edge-west-EW" fromLane="0" toLane="1" dir="l" state="M"/>
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+    <connection from=":junction-intersection_13" to="edge-east-WE" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":junction-intersection_15" to="edge-north-SN" fromLane="0" toLane="1" via=":junction-intersection_19_0" dir="l" state="m"/>
+    <connection from=":junction-intersection_19" to="edge-north-SN" fromLane="0" toLane="1" dir="l" state="M"/>
+
+</net>
diff --git a/ultra/ultra/scenarios/pool/analysis_pool/4lane_c/info.json b/ultra/ultra/scenarios/pool/analysis_pool/4lane_c/info.json
new file mode 100755
index 0000000000..b96ce845dd
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_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/analysis_pool/4lane_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/4lane_t/100kmh/map.net.xml
new file mode 100755
index 0000000000..2ed52f8865
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/4lane_t/100kmh/map.net.xml
@@ -0,0 +1,154 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- generated on Wed  2 Sep 12:45:17 2020 by Eclipse SUMO netedit Version 1.5.0
+<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
+
+    <input>
+        <sumo-net-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/4lane_t/120kmh/map.net.xml"/>
+    </input>
+
+    <output>
+        <output-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/4lane_t/120kmh/map.net.xml"/>
+    </output>
+
+    <processing>
+        <geometry.min-radius.fix.railways value="false"/>
+        <geometry.max-grade.fix value="false"/>
+        <offset.disable-normalization value="true"/>
+        <lefthand value="false"/>
+    </processing>
+
+    <junctions>
+        <no-turnarounds value="true"/>
+        <junctions.corner-detail value="5"/>
+        <junctions.limit-turn-speed value="-1"/>
+        <rectangular-lane-cut value="false"/>
+    </junctions>
+
+    <pedestrian>
+        <walkingareas value="false"/>
+    </pedestrian>
+
+    <report>
+        <aggregate-warnings value="5"/>
+    </report>
+
+</configuration>
+-->
+
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+
+    <location netOffset="0.00,0.00" convBoundary="-108.86,-45.08,294.16,100.00" origBoundary="-10000000000.00,-10000000000.00,10000000000.00,10000000000.00" projParameter="!"/>
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diff --git a/ultra/ultra/scenarios/pool/analysis_pool/4lane_t/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/4lane_t/50kmh/map.net.xml
new file mode 100755
index 0000000000..ed49d0e6ac
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/4lane_t/50kmh/map.net.xml
@@ -0,0 +1,154 @@
+<?xml version="1.0" encoding="UTF-8"?>
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+<!-- generated on Wed  2 Sep 12:32:20 2020 by Eclipse SUMO netedit Version 1.5.0
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diff --git a/ultra/ultra/scenarios/pool/analysis_pool/4lane_t/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/4lane_t/70kmh/map.net.xml
new file mode 100755
index 0000000000..b9950093a4
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/4lane_t/70kmh/map.net.xml
@@ -0,0 +1,154 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- generated on Wed  2 Sep 12:20:17 2020 by Eclipse SUMO netedit Version 1.5.0
+<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
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+    <input>
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+        <output-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/4lane_t/80kmh/map.net.xml"/>
+    </output>
+
+    <processing>
+        <geometry.min-radius.fix.railways value="false"/>
+        <geometry.max-grade.fix value="false"/>
+        <offset.disable-normalization value="true"/>
+        <lefthand value="false"/>
+    </processing>
+
+    <junctions>
+        <no-turnarounds value="true"/>
+        <junctions.corner-detail value="5"/>
+        <junctions.limit-turn-speed value="-1"/>
+        <rectangular-lane-cut value="false"/>
+    </junctions>
+
+    <pedestrian>
+        <walkingareas value="false"/>
+    </pedestrian>
+
+    <report>
+        <aggregate-warnings value="5"/>
+    </report>
+
+</configuration>
+-->
+
+<net version="1.3" junctionCornerDetail="5" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/net_file.xsd">
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+    <junction id="gneJ1" type="priority" x="-109.29" y="-45.08" incLanes="edge-south-side_0" intLanes=":gneJ1_0_0" shape="-109.29,-41.88 -106.09,-41.88 -106.09,-45.08 -107.87,-44.72 -108.49,-44.28 -108.93,-43.66 -109.20,-42.86">
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+    <junction id="junction-south" type="priority" x="100.00" y="-45.05" incLanes="edge-south-NS_0 edge-south-NS_1" intLanes=":junction-south_0_0" shape="93.60,-37.85 106.40,-37.85 105.93,-40.05 104.53,-41.85 102.20,-43.25 98.93,-44.25 94.73,-44.85 89.60,-45.05 89.60,-41.85 91.82,-41.41 92.60,-40.85 93.16,-40.07 93.49,-39.07">
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+    <junction id=":junction-intersection_8_0" type="internal" x="103.73" y="100.00" incLanes=":junction-intersection_2_0 edge-west-WE_0 edge-west-WE_1" intLanes=":junction-intersection_4_0 :junction-intersection_6_0 :junction-intersection_6_1"/>
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+    <connection from="edge-west-WE" to="edge-east-WE" fromLane="0" toLane="0" via=":junction-intersection_6_0" dir="s" state="M"/>
+    <connection from="edge-west-WE" to="edge-east-WE" fromLane="1" toLane="1" via=":junction-intersection_6_1" dir="s" state="M"/>
+
+    <connection from=":gneJ1_0" to="edge-dead-end" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":junction-intersection_0" to="edge-west-EW" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":junction-intersection_0" to="edge-west-EW" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":junction-intersection_2" to="edge-south-NS" fromLane="0" toLane="1" via=":junction-intersection_8_0" dir="l" state="m"/>
+    <connection from=":junction-intersection_8" to="edge-south-NS" fromLane="0" toLane="1" dir="l" state="M"/>
+    <connection from=":junction-intersection_3" to="edge-east-WE" fromLane="0" toLane="0" dir="r" state="M"/>
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+    <connection from=":junction-intersection_9" to="edge-west-EW" fromLane="0" toLane="1" dir="l" state="M"/>
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+    <connection from=":junction-intersection_6" to="edge-east-WE" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":junction-south_0" to="edge-south-side" fromLane="0" toLane="0" dir="r" state="M"/>
+
+</net>
diff --git a/ultra/ultra/scenarios/pool/analysis_pool/4lane_t/info.json b/ultra/ultra/scenarios/pool/analysis_pool/4lane_t/info.json
new file mode 100755
index 0000000000..e281b4bcfe
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_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/analysis_pool/5lane_c/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/5lane_c/100kmh/map.net.xml
new file mode 100755
index 0000000000..8c53b1623d
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/5lane_c/100kmh/map.net.xml
@@ -0,0 +1,256 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- generated on Wed 30 Sep 13:56:08 2020 by Eclipse SUMO netedit Version 1.5.0
+<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
+
+    <input>
+        <sumo-net-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/5lane_c/100kmh/map.net.xml"/>
+    </input>
+
+    <output>
+        <output-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/5lane_c/100kmh/map.net.xml"/>
+    </output>
+
+    <processing>
+        <geometry.min-radius.fix.railways value="false"/>
+        <geometry.max-grade.fix value="false"/>
+        <offset.disable-normalization value="true"/>
+        <lefthand value="false"/>
+    </processing>
+
+    <junctions>
+        <no-turnarounds value="true"/>
+        <junctions.corner-detail value="5"/>
+        <junctions.limit-turn-speed value="-1"/>
+        <rectangular-lane-cut value="false"/>
+    </junctions>
+
+    <pedestrian>
+        <walkingareas value="false"/>
+    </pedestrian>
+
+    <report>
+        <aggregate-warnings value="5"/>
+    </report>
+
+</configuration>
+-->
+
+<net version="1.3" junctionCornerDetail="5" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/net_file.xsd">
+
+    <location netOffset="-630882.85,-4856133.12" convBoundary="-33.47,-237.94,360.88,87.45" origBoundary="-79.371708,43.846679,-79.369237,43.847436" projParameter="+proj=utm +zone=17 +ellps=WGS84 +datum=WGS84 +units=m +no_defs"/>
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+    <type id="railway.tram" priority="17" numLanes="1" speed="13.89" allow="tram" oneway="1"/>
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diff --git a/ultra/ultra/scenarios/pool/analysis_pool/5lane_c/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/5lane_c/50kmh/map.net.xml
new file mode 100755
index 0000000000..79f08fc267
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/5lane_c/50kmh/map.net.xml
@@ -0,0 +1,256 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- generated on Wed  2 Sep 12:33:05 2020 by Eclipse SUMO netedit Version 1.5.0
+<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
+
+    <input>
+        <sumo-net-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/5lane_c/40kmh/map.net.xml"/>
+    </input>
+
+    <output>
+        <output-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/5lane_c/40kmh/map.net.xml"/>
+    </output>
+
+    <processing>
+        <geometry.min-radius.fix.railways value="false"/>
+        <geometry.max-grade.fix value="false"/>
+        <offset.disable-normalization value="true"/>
+        <lefthand value="false"/>
+    </processing>
+
+    <junctions>
+        <no-turnarounds value="true"/>
+        <junctions.corner-detail value="5"/>
+        <junctions.limit-turn-speed value="-1"/>
+        <rectangular-lane-cut value="false"/>
+    </junctions>
+
+    <pedestrian>
+        <walkingareas value="false"/>
+    </pedestrian>
+
+    <report>
+        <aggregate-warnings value="5"/>
+    </report>
+
+</configuration>
+-->
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diff --git a/ultra/ultra/scenarios/pool/analysis_pool/5lane_c/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/5lane_c/70kmh/map.net.xml
new file mode 100755
index 0000000000..dd368ccedb
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/5lane_c/70kmh/map.net.xml
@@ -0,0 +1,256 @@
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+    <connection from=":gneJ23_0" to="edge-south-side" fromLane="0" toLane="0" dir="r" state="M"/>
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+    <connection from=":junction-intersection_9" to="edge-east-WE" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":junction-intersection_10" to="edge-north-SN" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":junction-intersection_10" to="edge-north-SN" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":junction-intersection_12" to="edge-west-EW" fromLane="0" toLane="2" via=":junction-intersection_19_0" dir="l" state="m"/>
+    <connection from=":junction-intersection_19" to="edge-west-EW" fromLane="0" toLane="2" dir="l" state="M"/>
+    <connection from=":junction-intersection_13" to="edge-south-NS" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":junction-intersection_14" to="edge-east-WE" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":junction-intersection_14" to="edge-east-WE" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":junction-intersection_16" to="edge-north-SN" fromLane="0" toLane="1" via=":junction-intersection_20_0" dir="l" state="m"/>
+    <connection from=":junction-intersection_20" to="edge-north-SN" fromLane="0" toLane="1" dir="l" state="M"/>
+
+</net>
diff --git a/ultra/ultra/scenarios/pool/analysis_pool/5lane_c/info.json b/ultra/ultra/scenarios/pool/analysis_pool/5lane_c/info.json
new file mode 100755
index 0000000000..8ad33ede9d
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_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/analysis_pool/5lane_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/5lane_t/100kmh/map.net.xml
new file mode 100755
index 0000000000..86530adc29
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/5lane_t/100kmh/map.net.xml
@@ -0,0 +1,171 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- generated on Wed  2 Sep 12:46:48 2020 by Eclipse SUMO netedit Version 1.5.0
+<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
+
+    <input>
+        <sumo-net-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/5lane_t/120kmh/map.net.xml"/>
+    </input>
+
+    <output>
+        <output-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/5lane_t/120kmh/map.net.xml"/>
+    </output>
+
+    <processing>
+        <geometry.min-radius.fix.railways value="false"/>
+        <geometry.max-grade.fix value="false"/>
+        <offset.disable-normalization value="true"/>
+        <lefthand value="false"/>
+    </processing>
+
+    <junctions>
+        <no-turnarounds value="true"/>
+        <junctions.corner-detail value="5"/>
+        <junctions.limit-turn-speed value="-1"/>
+        <rectangular-lane-cut value="false"/>
+    </junctions>
+
+    <pedestrian>
+        <walkingareas value="false"/>
+    </pedestrian>
+
+    <report>
+        <aggregate-warnings value="5"/>
+    </report>
+
+</configuration>
+-->
+
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+
+    <location netOffset="0.00,0.00" convBoundary="-109.29,-45.05,294.16,100.00" origBoundary="-10000000000.00,-10000000000.00,10000000000.00,10000000000.00" projParameter="!"/>
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+    </edge>
+    <edge id=":junction-intersection_0" function="internal">
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+    <junction id="gneJ1" type="priority" x="-109.29" y="-45.02" incLanes="edge-south-side_0" intLanes=":gneJ1_0_0" shape="-109.29,-41.82 -106.09,-41.82 -106.09,-45.02 -107.87,-44.66 -108.49,-44.22 -108.93,-43.60 -109.20,-42.80">
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new file mode 100755
index 0000000000..387bd57c54
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/5lane_t/50kmh/map.net.xml
@@ -0,0 +1,171 @@
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diff --git a/ultra/ultra/scenarios/pool/analysis_pool/5lane_t/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/5lane_t/70kmh/map.net.xml
new file mode 100755
index 0000000000..072016a009
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/5lane_t/70kmh/map.net.xml
@@ -0,0 +1,171 @@
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+    <edge id=":junction-intersection_3" function="internal">
+        <lane id=":junction-intersection_3_0" index="0" speed="16.66" length="6.96" shape="110.40,101.60 105.15,100.85 103.73,100.00"/>
+    </edge>
+    <edge id=":junction-intersection_10" function="internal">
+        <lane id=":junction-intersection_10_0" index="0" speed="16.66" length="12.40" shape="103.73,100.00 101.40,98.60 99.15,94.85 98.40,89.60"/>
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+    <edge id=":junction-intersection_4" function="internal">
+        <lane id=":junction-intersection_4_0" index="0" speed="16.66" length="9.04" shape="104.80,89.60 105.15,92.05 106.20,93.80 107.95,94.85 110.40,95.20"/>
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+    <edge id=":junction-intersection_5" function="internal">
+        <lane id=":junction-intersection_5_0" index="0" speed="16.66" length="4.03" shape="101.60,89.60 101.15,93.60"/>
+    </edge>
+    <edge id=":junction-intersection_6" function="internal">
+        <lane id=":junction-intersection_6_0" index="0" speed="16.66" length="4.04" shape="101.60,89.60 101.03,93.60"/>
+    </edge>
+    <edge id=":junction-intersection_11" function="internal">
+        <lane id=":junction-intersection_11_0" index="0" speed="16.66" length="17.97" shape="101.15,93.60 100.85,96.25 98.60,101.00 94.85,103.85 89.59,104.79"/>
+    </edge>
+    <edge id=":junction-intersection_12" function="internal">
+        <lane id=":junction-intersection_12_0" index="0" speed="16.66" length="15.32" shape="101.03,93.60 100.85,94.85 98.60,98.60 94.85,100.85 89.59,101.59"/>
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+    <edge id=":junction-intersection_7" function="internal">
+        <lane id=":junction-intersection_7_0" index="0" speed="16.66" length="9.03" shape="89.60,95.19 92.05,94.84 93.80,93.79 94.85,92.05 95.20,89.60"/>
+    </edge>
+    <edge id=":junction-intersection_8" function="internal">
+        <lane id=":junction-intersection_8_0" index="0" speed="19.44" length="20.80" shape="89.60,95.19 110.40,95.20"/>
+        <lane id=":junction-intersection_8_1" index="1" speed="19.44" length="20.80" shape="89.60,98.39 110.40,98.40"/>
+    </edge>
+    <edge id=":junction-south_0" function="internal">
+        <lane id=":junction-south_0_0" index="0" speed="13.89" length="9.03" shape="95.20,-37.85 94.85,-40.30 93.80,-42.05 92.05,-43.10 89.60,-43.45"/>
+    </edge>
+
+    <edge id="edge-dead-end" from="gneJ1" to="gneJ2" priority="-1">
+        <lane id="edge-dead-end_0" index="0" speed="13.89" length="51.76" shape="-109.14,-41.83 -109.14,9.93"/>
+    </edge>
+    <edge id="edge-east-EW" from="junction-east" to="junction-intersection" priority="1">
+        <lane id="edge-east-EW_0" index="0" speed="19.44" length="183.76" shape="294.16,108.00 110.40,108.00"/>
+        <lane id="edge-east-EW_1" index="1" speed="19.44" length="183.76" shape="294.16,104.80 110.40,104.80"/>
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+    <edge id="edge-east-WE" from="junction-intersection" to="junction-east" priority="1" spreadType="center" shape="99.98,96.80 294.16,96.80">
+        <lane id="edge-east-WE_0" index="0" speed="19.44" length="183.76" shape="110.40,95.20 294.16,95.20"/>
+        <lane id="edge-east-WE_1" index="1" speed="19.44" length="183.76" shape="110.40,98.40 294.16,98.40"/>
+    </edge>
+    <edge id="edge-south-NS" from="junction-intersection" to="junction-south" priority="1">
+        <lane id="edge-south-NS_0" index="0" speed="13.89" length="127.44" shape="95.20,89.60 95.20,-37.85"/>
+        <lane id="edge-south-NS_1" index="1" speed="13.89" length="127.44" shape="98.40,89.60 98.40,-37.85"/>
+    </edge>
+    <edge id="edge-south-SN" from="junction-south" to="junction-intersection" priority="1">
+        <lane id="edge-south-SN_0" index="0" speed="13.89" length="127.44" shape="104.80,-37.85 104.80,89.60"/>
+        <lane id="edge-south-SN_1" index="1" speed="13.89" length="127.44" shape="101.60,-37.85 101.60,89.60"/>
+    </edge>
+    <edge id="edge-south-side" from="junction-south" to="gneJ1" priority="-1">
+        <lane id="edge-south-side_0" index="0" speed="13.89" length="197.14" shape="89.60,-43.45 -107.54,-43.43"/>
+    </edge>
+    <edge id="edge-west-EW" from="junction-intersection" to="junction-west" priority="1">
+        <lane id="edge-west-EW_0" index="0" speed="19.44" length="198.46" shape="89.59,107.99 -108.87,107.84"/>
+        <lane id="edge-west-EW_1" index="1" speed="19.44" length="198.46" shape="89.59,104.79 -108.86,104.64"/>
+        <lane id="edge-west-EW_2" index="2" speed="19.44" length="198.46" shape="89.59,101.59 -108.86,101.44"/>
+    </edge>
+    <edge id="edge-west-WE" from="junction-west" to="junction-intersection" priority="1">
+        <lane id="edge-west-WE_0" index="0" speed="19.44" length="198.46" shape="-108.86,95.04 89.60,95.19"/>
+        <lane id="edge-west-WE_1" index="1" speed="19.44" length="198.46" shape="-108.86,98.24 89.60,98.39"/>
+    </edge>
+
+    <junction id="gneJ1" type="priority" x="-110.74" y="-45.03" incLanes="edge-south-side_0" intLanes=":gneJ1_0_0" shape="-110.74,-41.83 -107.54,-41.83 -107.54,-45.03 -109.32,-44.67 -109.94,-44.23 -110.38,-43.61 -110.65,-42.81">
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+    <junction id="gneJ2" type="dead_end" x="-110.74" y="9.93" incLanes="edge-dead-end_0" intLanes="" shape="-107.54,9.93 -110.74,9.93"/>
+    <junction id="junction-east" type="dead_end" x="294.16" y="100.00" incLanes="edge-east-WE_0 edge-east-WE_1" intLanes="" shape="294.16,100.00 294.16,93.60 294.16,100.00"/>
+    <junction id="junction-intersection" type="priority" x="100.00" y="100.00" incLanes="edge-east-EW_0 edge-east-EW_1 edge-east-EW_2 edge-south-SN_0 edge-south-SN_1 edge-west-WE_0 edge-west-WE_1" intLanes=":junction-intersection_0_0 :junction-intersection_0_1 :junction-intersection_0_2 :junction-intersection_10_0 :junction-intersection_4_0 :junction-intersection_11_0 :junction-intersection_12_0 :junction-intersection_7_0 :junction-intersection_8_0 :junction-intersection_8_1" shape="110.40,109.60 110.40,93.60 108.18,93.16 107.40,92.60 106.84,91.82 106.51,90.82 106.40,89.60 93.60,89.60 93.16,91.82 92.60,92.59 91.82,93.15 90.82,93.48 89.60,93.59 89.59,109.59" rightOfWay="edgePriority">
+        <request index="0" response="0000000000" foes="0001100000" cont="0"/>
+        <request index="1" response="0000000000" foes="0001100000" cont="0"/>
+        <request index="2" response="0000000000" foes="0001100000" cont="0"/>
+        <request index="3" response="1100000000" foes="1101100000" cont="1"/>
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+        <request index="5" response="1100001111" foes="1100001111" cont="1"/>
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+        <request index="8" response="0000000000" foes="0001111000" cont="0"/>
+        <request index="9" response="0000000000" foes="0001111000" cont="0"/>
+    </junction>
+    <junction id="junction-south" type="priority" x="100.00" y="-45.05" incLanes="edge-south-NS_0 edge-south-NS_1" intLanes=":junction-south_0_0" shape="93.60,-37.85 106.40,-37.85 105.93,-40.05 104.53,-41.85 102.20,-43.25 98.93,-44.25 94.73,-44.85 89.60,-45.05 89.60,-41.85 91.82,-41.40 92.60,-40.85 93.16,-40.07 93.49,-39.07">
+        <request index="0" response="0" foes="0" cont="0"/>
+    </junction>
+    <junction id="junction-west" type="dead_end" x="-108.86" y="99.84" incLanes="edge-west-EW_0 edge-west-EW_1 edge-west-EW_2" intLanes="" shape="-108.86,99.84 -108.87,109.44 -108.86,99.84"/>
+
+    <junction id=":junction-intersection_10_0" type="internal" x="103.73" y="100.00" incLanes=":junction-intersection_3_0 edge-west-WE_0 edge-west-WE_1" intLanes=":junction-intersection_5_0 :junction-intersection_6_0 :junction-intersection_8_0 :junction-intersection_8_1"/>
+    <junction id=":junction-intersection_11_0" type="internal" x="101.15" y="93.60" incLanes=":junction-intersection_5_0 edge-east-EW_0 edge-east-EW_1 edge-east-EW_2 edge-west-WE_0 edge-west-WE_1" intLanes=":junction-intersection_0_0 :junction-intersection_0_1 :junction-intersection_0_2 :junction-intersection_3_0 :junction-intersection_8_0 :junction-intersection_8_1"/>
+    <junction id=":junction-intersection_12_0" type="internal" x="101.03" y="93.60" incLanes=":junction-intersection_6_0 edge-east-EW_0 edge-east-EW_1 edge-east-EW_2 edge-west-WE_0 edge-west-WE_1" intLanes=":junction-intersection_0_0 :junction-intersection_0_1 :junction-intersection_0_2 :junction-intersection_3_0 :junction-intersection_8_0 :junction-intersection_8_1"/>
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+    <connection from="edge-east-EW" to="edge-west-EW" fromLane="0" toLane="0" via=":junction-intersection_0_0" dir="s" state="M"/>
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+    <connection from="edge-east-EW" to="edge-west-EW" fromLane="2" toLane="2" via=":junction-intersection_0_2" dir="s" state="M"/>
+    <connection from="edge-east-EW" to="edge-south-NS" fromLane="2" toLane="1" via=":junction-intersection_3_0" dir="l" state="m"/>
+    <connection from="edge-south-NS" to="edge-south-side" fromLane="0" toLane="0" via=":junction-south_0_0" dir="r" state="M"/>
+    <connection from="edge-south-SN" to="edge-east-WE" fromLane="0" toLane="0" via=":junction-intersection_4_0" dir="r" state="m"/>
+    <connection from="edge-south-SN" to="edge-west-EW" fromLane="1" toLane="1" via=":junction-intersection_5_0" dir="l" state="m"/>
+    <connection from="edge-south-SN" to="edge-west-EW" fromLane="1" toLane="2" via=":junction-intersection_6_0" dir="l" state="m"/>
+    <connection from="edge-south-side" to="edge-dead-end" fromLane="0" toLane="0" via=":gneJ1_0_0" dir="r" state="M"/>
+    <connection from="edge-west-WE" to="edge-south-NS" fromLane="0" toLane="0" via=":junction-intersection_7_0" dir="r" state="M"/>
+    <connection from="edge-west-WE" to="edge-east-WE" fromLane="0" toLane="0" via=":junction-intersection_8_0" dir="s" state="M"/>
+    <connection from="edge-west-WE" to="edge-east-WE" fromLane="1" toLane="1" via=":junction-intersection_8_1" dir="s" state="M"/>
+
+    <connection from=":gneJ1_0" to="edge-dead-end" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":junction-intersection_0" to="edge-west-EW" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":junction-intersection_0" to="edge-west-EW" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":junction-intersection_0" to="edge-west-EW" fromLane="2" toLane="2" dir="s" state="M"/>
+    <connection from=":junction-intersection_3" to="edge-south-NS" fromLane="0" toLane="1" via=":junction-intersection_10_0" dir="l" state="m"/>
+    <connection from=":junction-intersection_10" to="edge-south-NS" fromLane="0" toLane="1" dir="l" state="M"/>
+    <connection from=":junction-intersection_4" to="edge-east-WE" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":junction-intersection_5" to="edge-west-EW" fromLane="0" toLane="1" via=":junction-intersection_11_0" dir="l" state="m"/>
+    <connection from=":junction-intersection_11" to="edge-west-EW" fromLane="0" toLane="1" dir="l" state="M"/>
+    <connection from=":junction-intersection_6" to="edge-west-EW" fromLane="0" toLane="2" via=":junction-intersection_12_0" dir="l" state="m"/>
+    <connection from=":junction-intersection_12" to="edge-west-EW" fromLane="0" toLane="2" dir="l" state="M"/>
+    <connection from=":junction-intersection_7" to="edge-south-NS" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":junction-intersection_8" to="edge-east-WE" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":junction-intersection_8" to="edge-east-WE" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":junction-south_0" to="edge-south-side" fromLane="0" toLane="0" dir="r" state="M"/>
+
+</net>
diff --git a/ultra/ultra/scenarios/pool/analysis_pool/5lane_t/info.json b/ultra/ultra/scenarios/pool/analysis_pool/5lane_t/info.json
new file mode 100755
index 0000000000..94ee7ee6ce
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_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/analysis_pool/6lane_c/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/6lane_c/100kmh/map.net.xml
new file mode 100755
index 0000000000..e7142db6bf
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/6lane_c/100kmh/map.net.xml
@@ -0,0 +1,262 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- generated on Wed 30 Sep 13:57:51 2020 by Eclipse SUMO netedit Version 1.5.0
+<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
+
+    <input>
+        <sumo-net-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/6lane_c/100kmh/map.net.xml"/>
+    </input>
+
+    <output>
+        <output-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/6lane_c/100kmh/map.net.xml"/>
+    </output>
+
+    <processing>
+        <geometry.min-radius.fix.railways value="false"/>
+        <geometry.max-grade.fix value="false"/>
+        <offset.disable-normalization value="true"/>
+        <lefthand value="false"/>
+    </processing>
+
+    <junctions>
+        <no-turnarounds value="true"/>
+        <junctions.corner-detail value="5"/>
+        <junctions.limit-turn-speed value="-1"/>
+        <rectangular-lane-cut value="false"/>
+    </junctions>
+
+    <pedestrian>
+        <walkingareas value="false"/>
+    </pedestrian>
+
+    <report>
+        <aggregate-warnings value="5"/>
+    </report>
+
+</configuration>
+-->
+
+<net version="1.3" junctionCornerDetail="5" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/net_file.xsd">
+
+    <location netOffset="-630882.85,-4856133.12" convBoundary="-35.79,-237.94,360.88,87.45" origBoundary="-79.371708,43.846679,-79.369237,43.847436" projParameter="+proj=utm +zone=17 +ellps=WGS84 +datum=WGS84 +units=m +no_defs"/>
+
+    <type id="highway.bridleway" priority="1" numLanes="1" speed="2.78" allow="pedestrian" oneway="1" width="2.00"/>
+    <type id="highway.bus_guideway" priority="1" numLanes="1" speed="27.78" allow="bus" oneway="1"/>
+    <type id="highway.cycleway" priority="1" numLanes="1" speed="8.33" allow="bicycle" oneway="0" width="1.00"/>
+    <type id="highway.footway" priority="1" numLanes="1" speed="2.78" allow="pedestrian" oneway="1" width="2.00"/>
+    <type id="highway.ford" priority="1" numLanes="1" speed="2.78" allow="army" oneway="0"/>
+    <type id="highway.living_street" priority="2" numLanes="1" speed="2.78" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
+    <type id="highway.motorway" priority="14" numLanes="2" speed="39.44" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" oneway="1"/>
+    <type id="highway.motorway_link" priority="9" numLanes="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" oneway="1"/>
+    <type id="highway.path" priority="1" numLanes="1" speed="2.78" allow="pedestrian bicycle" oneway="1" width="2.00"/>
+    <type id="highway.pedestrian" priority="1" numLanes="1" speed="2.78" allow="pedestrian" oneway="1" width="2.00"/>
+    <type id="highway.primary" priority="12" numLanes="2" speed="27.78" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
+    <type id="highway.primary_link" priority="7" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
+    <type id="highway.raceway" priority="15" numLanes="2" speed="83.33" allow="vip" oneway="0"/>
+    <type id="highway.residential" priority="3" numLanes="1" speed="13.89" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
+    <type id="highway.secondary" priority="11" numLanes="2" speed="27.78" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
+    <type id="highway.secondary_link" priority="6" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
+    <type id="highway.service" priority="1" numLanes="1" speed="5.56" allow="pedestrian delivery bicycle" oneway="0"/>
+    <type id="highway.stairs" priority="1" numLanes="1" speed="1.39" allow="pedestrian" oneway="1" width="2.00"/>
+    <type id="highway.step" priority="1" numLanes="1" speed="1.39" allow="pedestrian" oneway="1" width="2.00"/>
+    <type id="highway.steps" priority="1" numLanes="1" speed="1.39" allow="pedestrian" oneway="1" width="2.00"/>
+    <type id="highway.tertiary" priority="10" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
+    <type id="highway.tertiary_link" priority="5" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
+    <type id="highway.track" priority="1" numLanes="1" speed="5.56" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
+    <type id="highway.trunk" priority="13" numLanes="2" speed="27.78" disallow="pedestrian bicycle tram rail_urban rail rail_electric ship" oneway="0"/>
+    <type id="highway.trunk_link" priority="8" numLanes="1" speed="22.22" disallow="pedestrian bicycle tram rail_urban rail rail_electric ship" oneway="0"/>
+    <type id="highway.unclassified" priority="4" numLanes="1" speed="13.89" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
+    <type id="highway.unsurfaced" priority="1" numLanes="1" speed="8.33" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
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+    <type id="railway.rail" priority="20" numLanes="1" speed="83.33" allow="rail rail_electric" oneway="1"/>
+    <type id="railway.subway" priority="18" numLanes="1" speed="27.78" allow="rail_urban" oneway="1"/>
+    <type id="railway.tram" priority="17" numLanes="1" speed="13.89" allow="tram" oneway="1"/>
+
+    <edge id=":gneJ23_0" function="internal">
+        <lane id=":gneJ23_0_0" index="0" speed="20.84" length="9.03" shape="145.17,-230.74 144.82,-233.19 143.77,-234.94 142.02,-235.99 139.57,-236.34"/>
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+    </edge>
+    <edge id=":junction-intersection_0" function="internal">
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+    </edge>
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+    </edge>
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+        <lane id=":junction-intersection_3_0" index="0" speed="20.84" length="6.72" shape="148.40,-42.40 149.19,-49.07"/>
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diff --git a/ultra/ultra/scenarios/pool/analysis_pool/6lane_c/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/6lane_c/50kmh/map.net.xml
new file mode 100755
index 0000000000..aeeba1fcf2
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/6lane_c/50kmh/map.net.xml
@@ -0,0 +1,262 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- generated on Wed  2 Sep 12:37:15 2020 by Eclipse SUMO netedit Version 1.5.0
+<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
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+    <input>
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+
+    <output>
+        <output-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/6lane_c/40kmh/map.net.xml"/>
+    </output>
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+    <processing>
+        <geometry.min-radius.fix.railways value="false"/>
+        <geometry.max-grade.fix value="false"/>
+        <offset.disable-normalization value="true"/>
+        <lefthand value="false"/>
+    </processing>
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+    <junctions>
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+        <rectangular-lane-cut value="false"/>
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+    <pedestrian>
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+    <report>
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diff --git a/ultra/ultra/scenarios/pool/analysis_pool/6lane_c/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/6lane_c/70kmh/map.net.xml
new file mode 100755
index 0000000000..f2c7412af4
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/6lane_c/70kmh/map.net.xml
@@ -0,0 +1,262 @@
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+        <request index="10" response="000000000011100000" foes="111100000111111000" cont="0"/>
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+        <request index="17" response="000001110011100110" foes="000001110011101110" cont="1"/>
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+    <connection from=":gneJ23_0" to="edge-south-side" fromLane="0" toLane="0" dir="r" state="M"/>
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+    <connection from=":junction-intersection_0" to="edge-west-EW" fromLane="0" toLane="0" dir="r" state="M"/>
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+    <connection from=":junction-intersection_1" to="edge-south-NS" fromLane="1" toLane="1" dir="s" state="M"/>
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+    <connection from=":junction-intersection_18" to="edge-east-WE" fromLane="0" toLane="2" dir="l" state="M"/>
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+    <connection from=":junction-intersection_5" to="edge-west-EW" fromLane="2" toLane="2" dir="s" state="M"/>
+    <connection from=":junction-intersection_8" to="edge-south-NS" fromLane="0" toLane="1" via=":junction-intersection_19_0" dir="l" state="m"/>
+    <connection from=":junction-intersection_19" to="edge-south-NS" fromLane="0" toLane="1" dir="l" state="M"/>
+    <connection from=":junction-intersection_9" to="edge-east-WE" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":junction-intersection_10" to="edge-north-SN" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":junction-intersection_10" to="edge-north-SN" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":junction-intersection_12" to="edge-west-EW" fromLane="0" toLane="2" via=":junction-intersection_20_0" dir="l" state="m"/>
+    <connection from=":junction-intersection_20" to="edge-west-EW" fromLane="0" toLane="2" dir="l" state="M"/>
+    <connection from=":junction-intersection_13" to="edge-south-NS" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":junction-intersection_14" to="edge-east-WE" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":junction-intersection_14" to="edge-east-WE" fromLane="1" toLane="1" dir="s" state="M"/>
+    <connection from=":junction-intersection_14" to="edge-east-WE" fromLane="2" toLane="2" dir="s" state="M"/>
+    <connection from=":junction-intersection_17" to="edge-north-SN" fromLane="0" toLane="1" via=":junction-intersection_21_0" dir="l" state="m"/>
+    <connection from=":junction-intersection_21" to="edge-north-SN" fromLane="0" toLane="1" dir="l" state="M"/>
+
+</net>
diff --git a/ultra/ultra/scenarios/pool/analysis_pool/6lane_c/info.json b/ultra/ultra/scenarios/pool/analysis_pool/6lane_c/info.json
new file mode 100755
index 0000000000..92ca2e3b95
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_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/analysis_pool/6lane_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/6lane_t/100kmh/map.net.xml
new file mode 100755
index 0000000000..7bd42adeb7
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/6lane_t/100kmh/map.net.xml
@@ -0,0 +1,177 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- generated on Wed  2 Sep 12:48:07 2020 by Eclipse SUMO netedit Version 1.5.0
+<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
+
+    <input>
+        <sumo-net-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/6lane_t/120kmh/map.net.xml"/>
+    </input>
+
+    <output>
+        <output-file value="/Users/kimia_hszd/dev/SMARTS/research/edmonton/intersections/scenarios/pool/6lane_t/120kmh/map.net.xml"/>
+    </output>
+
+    <processing>
+        <geometry.min-radius.fix.railways value="false"/>
+        <geometry.max-grade.fix value="false"/>
+        <offset.disable-normalization value="true"/>
+        <lefthand value="false"/>
+    </processing>
+
+    <junctions>
+        <no-turnarounds value="true"/>
+        <junctions.corner-detail value="5"/>
+        <junctions.limit-turn-speed value="-1"/>
+        <rectangular-lane-cut value="false"/>
+    </junctions>
+
+    <pedestrian>
+        <walkingareas value="false"/>
+    </pedestrian>
+
+    <report>
+        <aggregate-warnings value="5"/>
+    </report>
+
+</configuration>
+-->
+
+<net version="1.3" junctionCornerDetail="5" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/net_file.xsd">
+
+    <location netOffset="0.00,0.00" convBoundary="-109.11,-45.05,294.16,100.09" origBoundary="-10000000000.00,-10000000000.00,10000000000.00,10000000000.00" projParameter="!"/>
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+    <edge id=":gneJ1_0" function="internal">
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+    </edge>
+    <edge id=":junction-intersection_0" function="internal">
+        <lane id=":junction-intersection_0_0" index="0" speed="27.78" length="20.79" shape="110.40,108.00 89.61,108.00"/>
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+        <lane id=":junction-intersection_0_2" index="2" speed="27.78" length="20.79" shape="110.40,101.60 89.60,101.60"/>
+    </edge>
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+    </edge>
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+    <junction id="gneJ1" type="priority" x="-105.55" y="-45.02" incLanes="edge-south-side_0" intLanes=":gneJ1_0_0" shape="-105.55,-41.82 -102.35,-41.82 -102.35,-45.02 -104.13,-44.66 -104.75,-44.22 -105.19,-43.60 -105.46,-42.80">
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diff --git a/ultra/ultra/scenarios/pool/analysis_pool/6lane_t/50kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/6lane_t/50kmh/map.net.xml
new file mode 100755
index 0000000000..eaecbccb65
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/6lane_t/50kmh/map.net.xml
@@ -0,0 +1,177 @@
+<?xml version="1.0" encoding="UTF-8"?>
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+<!-- generated on Wed  2 Sep 12:53:40 2020 by Eclipse SUMO netedit Version 1.5.0
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+    </output>
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+    <pedestrian>
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+    <report>
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new file mode 100755
index 0000000000..6417498ec0
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/6lane_t/70kmh/map.net.xml
@@ -0,0 +1,177 @@
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+</net>
diff --git a/ultra/ultra/scenarios/pool/analysis_pool/6lane_t/info.json b/ultra/ultra/scenarios/pool/analysis_pool/6lane_t/info.json
new file mode 100755
index 0000000000..2fa6a30e5c
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_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/analysis_pool/behavior_race/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/analysis_pool/behavior_race/70kmh/map.net.xml
new file mode 100644
index 0000000000..5bf65115d8
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/behavior_race/70kmh/map.net.xml
@@ -0,0 +1,140 @@
+<?xml version="1.0" encoding="UTF-8"?>
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+<!-- generated on Wed  2 Sep 13:40:20 2020 by Eclipse SUMO netedit Version 1.5.0
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diff --git a/ultra/ultra/scenarios/pool/analysis_pool/behavior_race/70kmh/road_speeds.json b/ultra/ultra/scenarios/pool/analysis_pool/behavior_race/70kmh/road_speeds.json
new file mode 100644
index 0000000000..b3eb40c0e8
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/behavior_race/70kmh/road_speeds.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/ultra/ultra/scenarios/pool/analysis_pool/behavior_race/info.json b/ultra/ultra/scenarios/pool/analysis_pool/behavior_race/info.json
new file mode 100644
index 0000000000..cbbc2264e4
--- /dev/null
+++ b/ultra/ultra/scenarios/pool/analysis_pool/behavior_race/info.json
@@ -0,0 +1,4 @@
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diff --git a/ultra/ultra/scenarios/pool/behavior_race/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/behavior_race/70kmh/map.net.xml
index 5bf65115d8..07bb46c3db 100644
--- a/ultra/ultra/scenarios/pool/behavior_race/70kmh/map.net.xml
+++ b/ultra/ultra/scenarios/pool/behavior_race/70kmh/map.net.xml
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From f857477008ba7d5510f887d94713a480b74260fd Mon Sep 17 00:00:00 2001
From: Jenish Patel <jenish@ualberta.ca>
Date: Wed, 19 May 2021 17:26:35 +0000
Subject: [PATCH 2/3] formatted

---
 ultra/tests/test_analysis.py                | 2 +-
 ultra/ultra/scenarios/generate_scenarios.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/ultra/tests/test_analysis.py b/ultra/tests/test_analysis.py
index 0d0c144f96..fe986777cf 100644
--- a/ultra/tests/test_analysis.py
+++ b/ultra/tests/test_analysis.py
@@ -54,7 +54,7 @@ def test_interface_analyze(self):
                 stopwatcher_route="south-west",
                 root_path="tests/scenarios",
                 save_dir=save_dir,
-                pool_dir="pool/analysis_pool"
+                pool_dir="pool/analysis_pool",
             )
 
             if not os.path.exists(output):
diff --git a/ultra/ultra/scenarios/generate_scenarios.py b/ultra/ultra/scenarios/generate_scenarios.py
index 9b20db5f29..f6b001920d 100644
--- a/ultra/ultra/scenarios/generate_scenarios.py
+++ b/ultra/ultra/scenarios/generate_scenarios.py
@@ -701,7 +701,7 @@ 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}"
-    
+
     if pool_dir is None:
         pool_path = os.path.join(scenarios_dir, "pool")
     else:

From 30ebf22e45b44c4e19e67dc68f12b864fc2415c1 Mon Sep 17 00:00:00 2001
From: Jenish Patel <jenish@ualberta.ca>
Date: Wed, 19 May 2021 22:32:28 +0000
Subject: [PATCH 3/3] changes from review

---
 ultra/ultra/scenarios/generate_scenarios.py                     | 2 +-
 ultra/ultra/scenarios/interface.py                              | 2 +-
 .../pool/{ => experiment_pool}/2lane_c/100kmh/map.net.xml       | 0
 .../pool/{ => experiment_pool}/2lane_c/50kmh/map.net.xml        | 0
 .../pool/{ => experiment_pool}/2lane_c/70kmh/map.net.xml        | 0
 .../scenarios/pool/{ => experiment_pool}/2lane_c/info.json      | 0
 .../pool/{ => experiment_pool}/2lane_curvy_t/100kmh/map.net.xml | 0
 .../pool/{ => experiment_pool}/2lane_curvy_t/50kmh/map.net.xml  | 0
 .../pool/{ => experiment_pool}/2lane_curvy_t/70kmh/map.net.xml  | 0
 .../pool/{ => experiment_pool}/2lane_curvy_t/info.json          | 0
 .../pool/{ => experiment_pool}/2lane_t/100kmh/map.net.xml       | 0
 .../pool/{ => experiment_pool}/2lane_t/50kmh/map.net.xml        | 0
 .../pool/{ => experiment_pool}/2lane_t/70kmh/map.net.xml        | 0
 .../scenarios/pool/{ => experiment_pool}/2lane_t/info.json      | 0
 .../pool/{ => experiment_pool}/3lane_c/100kmh/map.net.xml       | 0
 .../pool/{ => experiment_pool}/3lane_c/50kmh/map.net.xml        | 0
 .../pool/{ => experiment_pool}/3lane_c/70kmh/map.net.xml        | 0
 .../scenarios/pool/{ => experiment_pool}/3lane_c/info.json      | 0
 .../pool/{ => experiment_pool}/3lane_t/100kmh/map.net.xml       | 0
 .../pool/{ => experiment_pool}/3lane_t/50kmh/map.net.xml        | 0
 .../pool/{ => experiment_pool}/3lane_t/70kmh/map.net.xml        | 0
 .../scenarios/pool/{ => experiment_pool}/3lane_t/info.json      | 0
 .../pool/{ => experiment_pool}/4lane_c/100kmh/map.net.xml       | 0
 .../pool/{ => experiment_pool}/4lane_c/50kmh/map.net.xml        | 0
 .../pool/{ => experiment_pool}/4lane_c/70kmh/map.net.xml        | 0
 .../scenarios/pool/{ => experiment_pool}/4lane_c/info.json      | 0
 .../pool/{ => experiment_pool}/4lane_t/100kmh/map.net.xml       | 0
 .../pool/{ => experiment_pool}/4lane_t/50kmh/map.net.xml        | 0
 .../pool/{ => experiment_pool}/4lane_t/70kmh/map.net.xml        | 0
 .../scenarios/pool/{ => experiment_pool}/4lane_t/info.json      | 0
 .../pool/{ => experiment_pool}/5lane_c/100kmh/map.net.xml       | 0
 .../pool/{ => experiment_pool}/5lane_c/50kmh/map.net.xml        | 0
 .../pool/{ => experiment_pool}/5lane_c/70kmh/map.net.xml        | 0
 .../scenarios/pool/{ => experiment_pool}/5lane_c/info.json      | 0
 .../pool/{ => experiment_pool}/5lane_t/100kmh/map.net.xml       | 0
 .../pool/{ => experiment_pool}/5lane_t/50kmh/map.net.xml        | 0
 .../pool/{ => experiment_pool}/5lane_t/70kmh/map.net.xml        | 0
 .../scenarios/pool/{ => experiment_pool}/5lane_t/info.json      | 0
 .../pool/{ => experiment_pool}/6lane_c/100kmh/map.net.xml       | 0
 .../pool/{ => experiment_pool}/6lane_c/50kmh/map.net.xml        | 0
 .../pool/{ => experiment_pool}/6lane_c/70kmh/map.net.xml        | 0
 .../scenarios/pool/{ => experiment_pool}/6lane_c/info.json      | 0
 .../pool/{ => experiment_pool}/6lane_t/100kmh/map.net.xml       | 0
 .../pool/{ => experiment_pool}/6lane_t/50kmh/map.net.xml        | 0
 .../pool/{ => experiment_pool}/6lane_t/70kmh/map.net.xml        | 0
 .../scenarios/pool/{ => experiment_pool}/6lane_t/info.json      | 0
 .../pool/{ => experiment_pool}/behavior_race/70kmh/map.net.xml  | 0
 .../{ => experiment_pool}/behavior_race/70kmh/road_speeds.json  | 0
 .../pool/{ => experiment_pool}/behavior_race/info.json          | 0
 49 files changed, 2 insertions(+), 2 deletions(-)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/2lane_c/100kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/2lane_c/50kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/2lane_c/70kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/2lane_c/info.json (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/2lane_curvy_t/100kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/2lane_curvy_t/50kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/2lane_curvy_t/70kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/2lane_curvy_t/info.json (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/2lane_t/100kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/2lane_t/50kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/2lane_t/70kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/2lane_t/info.json (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/3lane_c/100kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/3lane_c/50kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/3lane_c/70kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/3lane_c/info.json (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/3lane_t/100kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/3lane_t/50kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/3lane_t/70kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/3lane_t/info.json (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/4lane_c/100kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/4lane_c/50kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/4lane_c/70kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/4lane_c/info.json (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/4lane_t/100kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/4lane_t/50kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/4lane_t/70kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/4lane_t/info.json (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/5lane_c/100kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/5lane_c/50kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/5lane_c/70kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/5lane_c/info.json (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/5lane_t/100kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/5lane_t/50kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/5lane_t/70kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/5lane_t/info.json (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/6lane_c/100kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/6lane_c/50kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/6lane_c/70kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/6lane_c/info.json (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/6lane_t/100kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/6lane_t/50kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/6lane_t/70kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/6lane_t/info.json (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/behavior_race/70kmh/map.net.xml (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/behavior_race/70kmh/road_speeds.json (100%)
 rename ultra/ultra/scenarios/pool/{ => experiment_pool}/behavior_race/info.json (100%)

diff --git a/ultra/ultra/scenarios/generate_scenarios.py b/ultra/ultra/scenarios/generate_scenarios.py
index f6b001920d..e5a87d6802 100644
--- a/ultra/ultra/scenarios/generate_scenarios.py
+++ b/ultra/ultra/scenarios/generate_scenarios.py
@@ -703,7 +703,7 @@ def build_scenarios(
     task_dir = f"{scenarios_dir}/{task}"
 
     if pool_dir is None:
-        pool_path = os.path.join(scenarios_dir, "pool")
+        pool_path = os.path.join(scenarios_dir, "pool/experiment_pool")
     else:
         pool_path = os.path.join(scenarios_dir, pool_dir)
 
diff --git a/ultra/ultra/scenarios/interface.py b/ultra/ultra/scenarios/interface.py
index aabf9290dd..917b04ce17 100644
--- a/ultra/ultra/scenarios/interface.py
+++ b/ultra/ultra/scenarios/interface.py
@@ -57,7 +57,7 @@
     )
     parser_generate_scenarios.add_argument(
         "--root-dir",
-        help="directory for saving scenarios",
+        help="path to task directory",
         type=str,
         default="ultra/scenarios",
     )
diff --git a/ultra/ultra/scenarios/pool/2lane_c/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_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/experiment_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/experiment_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/experiment_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/experiment_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/experiment_pool/2lane_c/70kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/2lane_c/info.json b/ultra/ultra/scenarios/pool/experiment_pool/2lane_c/info.json
similarity index 100%
rename from ultra/ultra/scenarios/pool/2lane_c/info.json
rename to ultra/ultra/scenarios/pool/experiment_pool/2lane_c/info.json
diff --git a/ultra/ultra/scenarios/pool/2lane_curvy_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_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/experiment_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/experiment_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/experiment_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/experiment_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/experiment_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/experiment_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/experiment_pool/2lane_curvy_t/info.json
diff --git a/ultra/ultra/scenarios/pool/2lane_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_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/experiment_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/experiment_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/experiment_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/experiment_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/experiment_pool/2lane_t/70kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/2lane_t/info.json b/ultra/ultra/scenarios/pool/experiment_pool/2lane_t/info.json
similarity index 100%
rename from ultra/ultra/scenarios/pool/2lane_t/info.json
rename to ultra/ultra/scenarios/pool/experiment_pool/2lane_t/info.json
diff --git a/ultra/ultra/scenarios/pool/3lane_c/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_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/experiment_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/experiment_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/experiment_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/experiment_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/experiment_pool/3lane_c/70kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/3lane_c/info.json b/ultra/ultra/scenarios/pool/experiment_pool/3lane_c/info.json
similarity index 100%
rename from ultra/ultra/scenarios/pool/3lane_c/info.json
rename to ultra/ultra/scenarios/pool/experiment_pool/3lane_c/info.json
diff --git a/ultra/ultra/scenarios/pool/3lane_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_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/experiment_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/experiment_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/experiment_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/experiment_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/experiment_pool/3lane_t/70kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/3lane_t/info.json b/ultra/ultra/scenarios/pool/experiment_pool/3lane_t/info.json
similarity index 100%
rename from ultra/ultra/scenarios/pool/3lane_t/info.json
rename to ultra/ultra/scenarios/pool/experiment_pool/3lane_t/info.json
diff --git a/ultra/ultra/scenarios/pool/4lane_c/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_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/experiment_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/experiment_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/experiment_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/experiment_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/experiment_pool/4lane_c/70kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/4lane_c/info.json b/ultra/ultra/scenarios/pool/experiment_pool/4lane_c/info.json
similarity index 100%
rename from ultra/ultra/scenarios/pool/4lane_c/info.json
rename to ultra/ultra/scenarios/pool/experiment_pool/4lane_c/info.json
diff --git a/ultra/ultra/scenarios/pool/4lane_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_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/experiment_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/experiment_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/experiment_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/experiment_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/experiment_pool/4lane_t/70kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/4lane_t/info.json b/ultra/ultra/scenarios/pool/experiment_pool/4lane_t/info.json
similarity index 100%
rename from ultra/ultra/scenarios/pool/4lane_t/info.json
rename to ultra/ultra/scenarios/pool/experiment_pool/4lane_t/info.json
diff --git a/ultra/ultra/scenarios/pool/5lane_c/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_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/experiment_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/experiment_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/experiment_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/experiment_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/experiment_pool/5lane_c/70kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/5lane_c/info.json b/ultra/ultra/scenarios/pool/experiment_pool/5lane_c/info.json
similarity index 100%
rename from ultra/ultra/scenarios/pool/5lane_c/info.json
rename to ultra/ultra/scenarios/pool/experiment_pool/5lane_c/info.json
diff --git a/ultra/ultra/scenarios/pool/5lane_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_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/experiment_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/experiment_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/experiment_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/experiment_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/experiment_pool/5lane_t/70kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/5lane_t/info.json b/ultra/ultra/scenarios/pool/experiment_pool/5lane_t/info.json
similarity index 100%
rename from ultra/ultra/scenarios/pool/5lane_t/info.json
rename to ultra/ultra/scenarios/pool/experiment_pool/5lane_t/info.json
diff --git a/ultra/ultra/scenarios/pool/6lane_c/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_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/experiment_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/experiment_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/experiment_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/experiment_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/experiment_pool/6lane_c/70kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/6lane_c/info.json b/ultra/ultra/scenarios/pool/experiment_pool/6lane_c/info.json
similarity index 100%
rename from ultra/ultra/scenarios/pool/6lane_c/info.json
rename to ultra/ultra/scenarios/pool/experiment_pool/6lane_c/info.json
diff --git a/ultra/ultra/scenarios/pool/6lane_t/100kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_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/experiment_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/experiment_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/experiment_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/experiment_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/experiment_pool/6lane_t/70kmh/map.net.xml
diff --git a/ultra/ultra/scenarios/pool/6lane_t/info.json b/ultra/ultra/scenarios/pool/experiment_pool/6lane_t/info.json
similarity index 100%
rename from ultra/ultra/scenarios/pool/6lane_t/info.json
rename to ultra/ultra/scenarios/pool/experiment_pool/6lane_t/info.json
diff --git a/ultra/ultra/scenarios/pool/behavior_race/70kmh/map.net.xml b/ultra/ultra/scenarios/pool/experiment_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/experiment_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/experiment_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/experiment_pool/behavior_race/70kmh/road_speeds.json
diff --git a/ultra/ultra/scenarios/pool/behavior_race/info.json b/ultra/ultra/scenarios/pool/experiment_pool/behavior_race/info.json
similarity index 100%
rename from ultra/ultra/scenarios/pool/behavior_race/info.json
rename to ultra/ultra/scenarios/pool/experiment_pool/behavior_race/info.json