From 8c9cb0f5ee2f350c817a504c53c4b3411c770830 Mon Sep 17 00:00:00 2001
From: sacardoz <sacardoz@uwaterloo.ca>
Date: Mon, 25 Dec 2023 00:54:38 -0500
Subject: [PATCH] oops
---
nuplan/planning/simulation/observation/ml_planner_agents.py | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/nuplan/planning/simulation/observation/ml_planner_agents.py b/nuplan/planning/simulation/observation/ml_planner_agents.py
index e7d37df..79354eb 100644
--- a/nuplan/planning/simulation/observation/ml_planner_agents.py
+++ b/nuplan/planning/simulation/observation/ml_planner_agents.py
@@ -197,7 +197,7 @@ class MLPlannerAgents(AbstractObservation):
history_input = self._build_history_input(agent_token, agent_data['ego_state'], history)
if agent_data['occlusion'] is not None:
- planner_input = agent_data['occlusion'].occlude_input(history_input)
+ history_input = agent_data['occlusion'].occlude_input(history_input)
planner_input = PlannerInput(iteration=iteration, history=history_input, traffic_light_data=traffic_light_data)
trajectory = agent_data['planner'].compute_trajectory(planner_input)
@@ -292,9 +292,9 @@ class MLPlannerAgents(AbstractObservation):
# Convert agent state to a corresponding "ego state" object, or pull it from cache if already computed.
if matched_agent is None:
faux_ego_observation = deepcopy(current_state)
- faux_ego_observation._time_point = ego_state.time_point
+ faux_ego_observation._time_point = deepcopy(ego_state.time_point)
else:
- faux_ego_observation = self._build_ego_state_from_agent(matched_agent, ego_state.time_point)
+ faux_ego_observation = self._build_ego_state_from_agent(matched_agent, deepcopy(ego_state.time_point))
# Rebuild timestep and buffer - creating a new observations object with old ego appended.
--
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