diff --git a/co-simulation/bridge/bridge.bat b/co-simulation/bridge/bridge.bat
deleted file mode 100644
index 67310c3e..00000000
--- a/co-simulation/bridge/bridge.bat
+++ /dev/null
@@ -1,3 +0,0 @@
-@ECHO OFF
-cd ../../../bridge
-python carla_mosaic_bridge.py --bridge-server-port 8913 --map Town04 net/Town04.net.xml
diff --git a/co-simulation/bridge/bridge.sh b/co-simulation/bridge/bridge.sh
deleted file mode 100644
index 8fac6c08..00000000
--- a/co-simulation/bridge/bridge.sh
+++ /dev/null
@@ -1,7 +0,0 @@
-#!/bin/bash
-
-#x-terminal-emulator
-
-python3.7 carla_mosaic_bridge.py --bridge-server-port 8913 --map Town04 net/Town04.net.xml
-
-
diff --git a/co-simulation/bridge/carla_integration/carla_simulation.py b/co-simulation/bridge/carla_integration/carla_simulation.py
index 97f99b26..3f7ea8b9 100644
--- a/co-simulation/bridge/carla_integration/carla_simulation.py
+++ b/co-simulation/bridge/carla_integration/carla_simulation.py
@@ -39,7 +39,7 @@ def __init__(self, host, port, step_length):
             except:
                 print("reconnect carla")
                 connected=False
-                
+
             if connected:
                 print("CARLA simulator connected")
                 break
diff --git a/co-simulation/bridge/carla_integration/sumo_simulation.py b/co-simulation/bridge/carla_integration/sumo_simulation.py
index 5f4d5121..6db6695e 100644
--- a/co-simulation/bridge/carla_integration/sumo_simulation.py
+++ b/co-simulation/bridge/carla_integration/sumo_simulation.py
@@ -162,9 +162,8 @@ def __init__(self):
         self._current_program = {}  # {tlid: program_id}
         self._current_phase = {}  # {tlid: index_phase}
 
-        
         for tlid in traci.trafficlight.getIDList():
-            #self.subscribe(tlid)
+            self.subscribe(tlid)
 
             self._tls[tlid] = {}
             for tllogic in traci.trafficlight.getAllProgramLogics(tlid):
@@ -269,14 +268,14 @@ def tick(self):
         Tick to traffic light manager
         """
         if self._off is False:
-            for tl_id in traci.trafficlight.getIDList():               
+            for tl_id in traci.trafficlight.getIDList():
                 current_program = traci.trafficlight.getProgram(tl_id)
                 current_phase = traci.trafficlight.getPhase(tl_id)
 
                 if current_program != 'online':
                     self._current_program[tl_id] = current_program
                     self._current_phase[tl_id] = current_phase
-        
+
 
 # ==================================================================================================
 # -- sumo simulation -------------------------------------------------------------------------------
@@ -290,7 +289,7 @@ def __init__(self, sumo_net, step_length, host=None, port=None):
 
         logging.info('Connection to bridge server. Host: %s Port: %s', host, port)
         traci.init(host=host, port=port)
-        
+
         self.net = sumo_net
 
         # Variable to asign an id to new added actors.
@@ -299,7 +298,7 @@ def __init__(self, sumo_net, step_length, host=None, port=None):
         # Structures to keep track of the spawned and destroyed vehicles at each time step.
         self.spawned_actors = set()
         self.destroyed_actors = set()
-        
+
         # Traffic light manager.
         self.traffic_light_manager = None
 
@@ -355,9 +354,9 @@ def get_actor(actor_id):
         """
         Accessor for sumo actor.
         """
-        type_id = traci.vehicle.getTypeID(actor_id) 
+        type_id = traci.vehicle.getTypeID(actor_id)
         vclass = SumoActorClass(traci.vehicle.getVehicleClass(actor_id))
-        color = traci.vehicle.getColor(actor_id) 
+        color = traci.vehicle.getColor(actor_id)
 
         length = traci.vehicle.getLength(actor_id)
         width = traci.vehicle.getWidth(actor_id)
@@ -454,7 +453,7 @@ def tick(self):
             self.traffic_light_manager = SumoTLManager()
             self.firstTime = False
         traci.simulationStep()
-        #self.traffic_light_manager.tick()
+        self.traffic_light_manager.tick()
         # Update data structures for the current frame.
         self.spawned_actors = set(traci.simulation.getDepartedIDList())
         self.destroyed_actors = set(traci.simulation.getArrivedIDList())
@@ -466,7 +465,7 @@ def tick(self):
                 print(message)
 
          # Send V2x message to CARLA ambassador
-        if self.sendV2xInterval == 10:          
+        if self.sendV2xInterval == 10:
             traci.setV2xMessage("carla_0; A V2X messages from CARLA simulator.")
             self.sendV2xInterval = 0
 
diff --git a/co-simulation/bridge/carla_mosaic_bridge.py b/co-simulation/bridge/carla_mosaic_bridge.py
index fccbab4a..3c4c76db 100644
--- a/co-simulation/bridge/carla_mosaic_bridge.py
+++ b/co-simulation/bridge/carla_mosaic_bridge.py
@@ -70,6 +70,7 @@ def main(args):
     else:
         world = carla_simulation.client.get_world()
 
+    carla_simulation = CarlaSimulation(args.host, args.port, args.step_length)
     # ---------------
     # sumo simulation
     # ---------------
@@ -78,7 +79,7 @@ def main(args):
         print("load net file")
     else:
         # Temporal folder to save intermediate files.
-        tmpdir = tempfile.mkdtemp()    
+        tmpdir = tempfile.mkdtemp()
         current_map = world.get_map()
         xodr_file = os.path.join(tmpdir, current_map.name + '.xodr')
         current_map.save_to_disk(xodr_file)
@@ -108,7 +109,7 @@ def main(args):
         print("Socket server closed")
 
     finally:
-        try: 
+        try:
             synchronization.close()
         except:
             print("Connection closed")
@@ -137,10 +138,10 @@ def main(args):
                            default=8913,
                            type=int,
                            help='TCP port to listen to (default: None)')
-    argparser.add_argument('-m', 
+    argparser.add_argument('-m',
                            '--map',
                             help='load a new map')
-    argparser.add_argument('net_file', 
+    argparser.add_argument('net_file',
                            type=str,
                            default=None,
                            help='load the net file')
diff --git a/co-simulation/bridge/net/Town01.net.xml b/co-simulation/bridge/net/Town01.net.xml
deleted file mode 100644
index 8e523082..00000000
--- a/co-simulation/bridge/net/Town01.net.xml
+++ /dev/null
@@ -1,812 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<net version="1.6" junctionCornerDetail="5" rectangularLaneCut="true" limitTurnSpeed="5.50" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/net_file.xsd">
-
-    <location netOffset="0.06,328.61" convBoundary="0.00,0.00,394.44,328.66" origBoundary="-0.06,-328.61,394.38,0.05" projParameter="!"/>
-
-    <type id="bidirectional" priority="1" speed="1.39" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="3.65"/>
-    <type id="biking" priority="-1" speed="5.56" allow="bicycle" width="1.50"/>
-    <type id="border" priority="0" speed="1.39" disallow="all" discard="1" width="0.10"/>
-    <type id="driving" priority="1" speed="13.89" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="3.65"/>
-    <type id="entry" priority="1" speed="22.22" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="3.65"/>
-    <type id="exit" priority="1" speed="22.22" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="3.65"/>
-    <type id="median" priority="0" speed="1.39" disallow="all" discard="1" width="0.10"/>
-    <type id="mwyEntry" priority="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" width="3.65"/>
-    <type id="mwyExit" priority="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" width="3.65"/>
-    <type id="none" priority="0" speed="1.39" disallow="all" discard="1" width="1.00"/>
-    <type id="offRamp" priority="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" width="3.65"/>
-    <type id="onRamp" priority="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" width="3.65"/>
-    <type id="parking" priority="1" speed="1.39" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="2.50"/>
-    <type id="rail" priority="3" speed="33.33" allow="rail_urban rail rail_electric rail_fast" width="3.65"/>
-    <type id="restricted" priority="0" speed="13.89" disallow="all" width="3.65"/>
-    <type id="roadWorks" priority="0" speed="1.39" allow="authority" width="3.65"/>
-    <type id="shoulder" priority="0" speed="1.39" disallow="all" discard="1" width="1.00"/>
-    <type id="sidewalk" priority="-2" speed="2.78" allow="pedestrian" width="2.50"/>
-    <type id="special1" priority="1" speed="22.22" allow="custom1" discard="1" width="3.65"/>
-    <type id="special2" priority="1" speed="22.22" allow="custom2" discard="1" width="3.65"/>
-    <type id="special3" priority="1" speed="22.22" allow="custom1 custom2" discard="1" width="3.65"/>
-    <type id="stop" priority="1" speed="13.89" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="3.65"/>
-    <type id="tram" priority="2" speed="13.89" allow="tram" width="3.65"/>
-
-    <edge id=":111_0" function="internal">
-        <lane id=":111_0_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="8.22" length="14.76" width="4.00" shape="334.93,282.20 334.35,278.23 332.62,275.40 329.73,273.71 325.69,273.14"/>
-    </edge>
-    <edge id=":111_1" function="internal">
-        <lane id=":111_1_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="13.89" length="22.62" width="4.00" shape="334.93,282.20 334.92,259.58"/>
-    </edge>
-    <edge id=":111_2" function="internal">
-        <lane id=":111_2_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="13.89" length="22.62" width="4.00" shape="338.92,259.58 338.93,282.19"/>
-    </edge>
-    <edge id=":111_3" function="internal">
-        <lane id=":111_3_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="9.81" length="8.31" width="4.00" shape="338.92,259.58 338.09,265.51 336.92,267.51"/>
-    </edge>
-    <edge id=":111_6" function="internal">
-        <lane id=":111_6_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="9.81" length="13.30" width="4.00" shape="336.92,267.51 335.61,269.75 331.48,272.29 325.69,273.14"/>
-    </edge>
-    <edge id=":111_4" function="internal">
-        <lane id=":111_4_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="8.32" length="15.16" width="4.00" shape="325.69,269.14 329.73,268.54 332.61,266.75 334.34,263.76 334.92,259.58"/>
-    </edge>
-    <edge id=":111_5" function="internal">
-        <lane id=":111_5_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="9.73" length="21.20" width="4.00" shape="325.69,269.14 331.48,269.96 335.62,272.40 338.10,276.48 338.93,282.19"/>
-    </edge>
-    <edge id=":128_0" function="internal">
-        <lane id=":128_0_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="13.89" length="22.00" width="4.00" shape="88.46,142.28 88.46,120.28"/>
-    </edge>
-    <edge id=":128_1" function="internal">
-        <lane id=":128_1_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="9.65" length="7.94" width="4.00" shape="88.46,142.28 89.27,136.68 90.46,134.73"/>
-    </edge>
-    <edge id=":128_6" function="internal">
-        <lane id=":128_6_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="9.65" length="12.89" width="4.00" shape="90.46,134.73 91.72,132.67 95.79,130.27 101.48,129.47"/>
-    </edge>
-    <edge id=":128_2" function="internal">
-        <lane id=":128_2_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="8.12" length="14.39" width="4.00" shape="101.49,133.47 97.54,134.02 94.72,135.67 93.02,138.43 92.46,142.29"/>
-    </edge>
-    <edge id=":128_3" function="internal">
-        <lane id=":128_3_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="9.71" length="21.13" width="4.00" shape="101.49,133.47 95.79,132.65 91.72,130.17 89.27,126.05 88.46,120.28"/>
-    </edge>
-    <edge id=":128_4" function="internal">
-        <lane id=":128_4_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="8.20" length="14.68" width="4.00" shape="92.46,120.28 93.03,124.30 94.72,127.17 97.54,128.90 101.48,129.47"/>
-    </edge>
-    <edge id=":128_5" function="internal">
-        <lane id=":128_5_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="13.89" length="22.00" width="4.00" shape="92.46,120.28 92.46,142.29"/>
-    </edge>
-    <edge id=":139_0" function="internal">
-        <lane id=":139_0_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="8.18" length="14.62" width="4.00" shape="334.89,208.03 334.31,204.12 332.59,201.33 329.72,199.65 325.70,199.09"/>
-    </edge>
-    <edge id=":139_1" function="internal">
-        <lane id=":139_1_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="13.89" length="23.09" width="4.00" shape="334.89,208.03 334.87,184.94"/>
-    </edge>
-    <edge id=":139_2" function="internal">
-        <lane id=":139_2_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="13.89" length="23.09" width="4.00" shape="338.87,184.94 338.89,208.03"/>
-    </edge>
-    <edge id=":139_3" function="internal">
-        <lane id=":139_3_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="9.91" length="8.65" width="4.00" shape="338.87,184.94 338.05,191.13 336.88,193.24"/>
-    </edge>
-    <edge id=":139_6" function="internal">
-        <lane id=":139_6_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="9.91" length="13.39" width="4.00" shape="336.88,193.24 335.58,195.55 331.46,198.21 325.70,199.09"/>
-    </edge>
-    <edge id=":139_4" function="internal">
-        <lane id=":139_4_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="8.43" length="15.59" width="4.00" shape="325.69,195.09 329.71,194.46 332.58,192.56 334.30,189.38 334.87,184.94"/>
-    </edge>
-    <edge id=":139_5" function="internal">
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-    </edge>
-    <edge id=":156_0" function="internal">
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-    </edge>
-    <edge id=":156_1" function="internal">
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-    </edge>
-    <edge id=":156_2" function="internal">
-        <lane id=":156_2_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="8.28" length="15.01" width="4.00" shape="101.48,199.20 97.53,199.80 94.71,201.59 93.01,204.59 92.45,208.77"/>
-    </edge>
-    <edge id=":156_3" function="internal">
-        <lane id=":156_3_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="9.58" length="20.53" width="4.00" shape="101.48,199.20 95.78,198.42 91.71,196.09 89.27,192.21 88.45,186.77"/>
-    </edge>
-    <edge id=":156_4" function="internal">
-        <lane id=":156_4_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="8.04" length="14.07" width="4.00" shape="92.45,186.77 93.02,190.46 94.71,193.09 97.53,194.67 101.48,195.20"/>
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-    </edge>
-    <edge id=":167_0" function="internal">
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-    </edge>
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-    </edge>
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-    </edge>
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-    </edge>
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-
-</net>
diff --git a/co-simulation/bridge/net/Town04.net.xml b/co-simulation/bridge/net/Town04.net.xml
deleted file mode 100644
index 910f153d..00000000
--- a/co-simulation/bridge/net/Town04.net.xml
+++ /dev/null
@@ -1,2107 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
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-    <location netOffset="503.02,423.76" convBoundary="0.00,0.00,899.28,800.65" origBoundary="-499.52,-420.26,409.23,380.40" projParameter="!"/>
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-    <type id="parking" priority="1" speed="1.39" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="2.50"/>
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-    <type id="shoulder" priority="0" speed="1.39" disallow="all" discard="1" width="1.00"/>
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-    <type id="special1" priority="1" speed="22.22" allow="custom1" discard="1" width="3.65"/>
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-    <type id="special3" priority="1" speed="22.22" allow="custom1 custom2" discard="1" width="3.65"/>
-    <type id="stop" priority="1" speed="13.89" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="3.65"/>
-    <type id="tram" priority="2" speed="13.89" allow="tram" width="3.65"/>
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-    <edge id=":1012_0" function="internal">
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-        <lane id=":1012_0_2" index="2" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="13.89" length="26.01" width="3.50" shape="889.98,443.42 888.49,435.59 886.64,430.33 883.46,425.75 877.99,419.95"/>
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-
-</net>
diff --git a/co-simulation/bridge/net/Town05.net.xml b/co-simulation/bridge/net/Town05.net.xml
deleted file mode 100644
index 760a539f..00000000
--- a/co-simulation/bridge/net/Town05.net.xml
+++ /dev/null
@@ -1,2373 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<net version="1.6" junctionCornerDetail="5" rectangularLaneCut="true" limitTurnSpeed="5.50" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/net_file.xsd">
-
-    <location netOffset="270.80,200.32" convBoundary="0.00,0.00,473.11,399.44" origBoundary="-270.80,-200.32,202.31,199.12" projParameter="!"/>
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-    <type id="bidirectional" priority="1" speed="1.39" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="3.65"/>
-    <type id="biking" priority="-1" speed="5.56" allow="bicycle" width="1.50"/>
-    <type id="border" priority="0" speed="1.39" disallow="all" discard="1" width="0.10"/>
-    <type id="driving" priority="1" speed="13.89" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="3.65"/>
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-    <type id="exit" priority="1" speed="22.22" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="3.65"/>
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-    <type id="mwyEntry" priority="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" width="3.65"/>
-    <type id="mwyExit" priority="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" width="3.65"/>
-    <type id="none" priority="0" speed="1.39" disallow="all" discard="1" width="1.00"/>
-    <type id="offRamp" priority="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" width="3.65"/>
-    <type id="onRamp" priority="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" width="3.65"/>
-    <type id="parking" priority="1" speed="1.39" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="2.50"/>
-    <type id="rail" priority="3" speed="33.33" allow="rail_urban rail rail_electric rail_fast" width="3.65"/>
-    <type id="restricted" priority="0" speed="13.89" disallow="all" width="3.65"/>
-    <type id="roadWorks" priority="0" speed="1.39" allow="authority" width="3.65"/>
-    <type id="shoulder" priority="0" speed="1.39" disallow="all" discard="1" width="1.00"/>
-    <type id="sidewalk" priority="-2" speed="2.78" allow="pedestrian" width="2.50"/>
-    <type id="special1" priority="1" speed="22.22" allow="custom1" discard="1" width="3.65"/>
-    <type id="special2" priority="1" speed="22.22" allow="custom2" discard="1" width="3.65"/>
-    <type id="special3" priority="1" speed="22.22" allow="custom1 custom2" discard="1" width="3.65"/>
-    <type id="stop" priority="1" speed="13.89" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="3.65"/>
-    <type id="tram" priority="2" speed="13.89" allow="tram" width="3.65"/>
-
-    <edge id=":1050_0" function="internal">
-        <lane id=":1050_0_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="8.47" length="15.78" width="3.50" shape="161.65,56.12,0.06 156.92,56.68,0.04 153.54,58.32,0.03 151.49,61.03,0.01 150.78,64.82"/>
-    </edge>
-    <edge id=":1050_1" function="internal">
-        <lane id=":1050_1_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="13.89" length="32.27" width="3.50" shape="161.65,56.12,0.06 129.38,56.27,0.06"/>
-        <lane id=":1050_1_1" index="1" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="13.89" length="32.27" width="3.50" shape="161.63,52.62,0.06 129.36,52.77,0.06"/>
-    </edge>
-    <edge id=":1050_3" function="internal">
-        <lane id=":1050_3_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="13.89" length="32.27" width="3.50" shape="129.33,45.77,0.06 161.60,45.62,0.06"/>
-        <lane id=":1050_3_1" index="1" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="13.89" length="32.27" width="3.50" shape="129.34,49.27,0.06 161.62,49.12,0.06"/>
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