diff --git a/Co-Simulation/Sumo/sumo_integration/bridge_helper.py b/Co-Simulation/Sumo/sumo_integration/bridge_helper.py
index e4a14d946..4485d56e3 100644
--- a/Co-Simulation/Sumo/sumo_integration/bridge_helper.py
+++ b/Co-Simulation/Sumo/sumo_integration/bridge_helper.py
@@ -51,10 +51,9 @@ class BridgeHelper(object):
         # (http://sumo.sourceforge.net/userdoc/Purgatory/Vehicle_Values.html#angle)
         yaw = -1 * in_rotation.yaw + 90
         pitch = in_rotation.pitch
-        length = 2.0 * extent.x
-        out_location = (in_location.x - math.cos(math.radians(yaw)) * (length / 2.0),
-                        in_location.y - math.sin(math.radians(yaw)) * (length / 2.0),
-                        in_location.z - math.sin(math.radians(pitch)) * (length / 2.0))
+        out_location = (in_location.x - math.cos(math.radians(yaw)) * extent.x,
+                        in_location.y - math.sin(math.radians(yaw)) * extent.x,
+                        in_location.z - math.sin(math.radians(pitch)) * extent.x)
         out_rotation = (in_rotation.pitch, in_rotation.yaw, in_rotation.roll)
 
         # Applying offset sumo-carla net.
@@ -79,10 +78,9 @@ class BridgeHelper(object):
         # From center to front-center-bumper (carla reference system).
         yaw = -1 * in_rotation.yaw
         pitch = in_rotation.pitch
-        length = 2.0 * extent.x
-        out_location = (in_location.x + math.cos(math.radians(yaw)) * (length / 2.0),
-                        in_location.y - math.sin(math.radians(yaw)) * (length / 2.0),
-                        in_location.z - math.sin(math.radians(pitch)) * (length / 2.0))
+        out_location = (in_location.x + math.cos(math.radians(yaw)) * extent.x,
+                        in_location.y - math.sin(math.radians(yaw)) * extent.x,
+                        in_location.z - math.sin(math.radians(pitch)) * extent.x)
         out_rotation = (in_rotation.pitch, in_rotation.yaw, in_rotation.roll)
 
         # Applying offset carla-sumo net