Merge branch 'single-class-generation-and-metrics-updates' into 'dev'

experiments/bulk_running_experiments.ipynb

experiments/result_visualization.ipynb

experiments/vis_utils.py

...ier/conflict_vehicle_injection_and_occlusion_injection.py

...ifier/cross_conflict_with_occlusion_injection_modifier.py

...ier/diverge_conflict_with_occlusion_injection_modifier.py

...ifier/merge_conflict_with_occlusion_injection_modifier.py

...builder/scenario_modifier/occlusion_injection_modifier.py

.../sequential_conflict_with_occlusion_injection_modifier.py

nuplan/planning/script/builders/scenario_modifier_builder.py

nuplan/planning/script/builders/simulation_builder.py

nuplan/planning/simulation/observation/ml_planner_agents.py

...g/simulation/observation/mlpa/planner_config_constants.py

...anning/simulation/occlusion/abstract_occlusion_manager.py

.../planning/simulation/occlusion/wedge_occlusion_manager.py

nuplan/planning/simulation/simulation.py