ok this fixes problem #1 but not the snapping issue

experiments/test_notebook.ipynb

@@ -26,7 +26,7 @@
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "/tmp/ipykernel_182532/4095267831.py:5: DeprecationWarning: Importing display from IPython.core.display is deprecated since IPython 7.14, please import from IPython display\n",
+      "/tmp/ipykernel_187055/4095267831.py:5: DeprecationWarning: Importing display from IPython.core.display is deprecated since IPython 7.14, please import from IPython display\n",
       "  from IPython.core.display import display, HTML\n"
      ]
     }
@@ -137,7 +137,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 19,
+   "execution_count": 4,
    "id": "11b08c6d",
    "metadata": {},
    "outputs": [],
@@ -173,7 +173,7 @@
     "    f\"planner.pdm_hybrid_planner.checkpoint_path={hybrid_ckpt}\" ,\n",
     "    'observation.model_config=${model}',\n",
     "    f'observation.checkpoint_path={ckpt_dir}',\n",
-    "    f'observation.planner_type=pdm_hybrid',\n",
+    "    f'observation.planner_type=idm',\n",
     "    f'observation.pdm_hybrid_ckpt={hybrid_ckpt}',\n",
     "    f'observation.occlusions=true',\n",
     "    'worker=sequential',\n",
@@ -186,7 +186,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 20,
+   "execution_count": 5,
    "id": "161cc166",
    "metadata": {
     "scrolled": true
@@ -196,73 +196,43 @@
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "Global seed set to 0\n"
+      "Global seed set to 0\n",
+      "INFO:nuplan.planning.script.builders.main_callback_builder:Building MultiMainCallback...\n",
+      "INFO:nuplan.planning.script.builders.main_callback_builder:Building MultiMainCallback: 4...DONE!\n"
      ]
     },
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "2023-12-22 01:30:59,903 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/main_callback_builder.py:20}  Building MultiMainCallback...\n",
-      "2023-12-22 01:30:59,903 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/main_callback_builder.py:20}  Building MultiMainCallback...\n",
-      "2023-12-22 01:30:59,933 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/main_callback_builder.py:35}  Building MultiMainCallback: 4...DONE!\n",
-      "2023-12-22 01:30:59,933 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/main_callback_builder.py:35}  Building MultiMainCallback: 4...DONE!\n",
-      "2023-12-22 01:31:00,169 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:19}  Building WorkerPool...\n",
-      "2023-12-22 01:31:00,169 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:19}  Building WorkerPool...\n",
-      "2023-12-22 01:31:00,170 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/utils/multithreading/worker_pool.py:101}  Worker: Sequential\n",
-      "2023-12-22 01:31:00,170 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/utils/multithreading/worker_pool.py:101}  Worker: Sequential\n",
-      "2023-12-22 01:31:00,170 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/utils/multithreading/worker_pool.py:102}  Number of nodes: 1\n",
+      "2023-12-22 02:28:15,284 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:19}  Building WorkerPool...\n",
+      "2023-12-22 02:28:15,286 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/utils/multithreading/worker_pool.py:101}  Worker: Sequential\n",
+      "2023-12-22 02:28:15,286 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/utils/multithreading/worker_pool.py:102}  Number of nodes: 1\n",
       "Number of CPUs per node: 1\n",
       "Number of GPUs per node: 0\n",
       "Number of threads across all nodes: 1\n",
-      "2023-12-22 01:31:00,170 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/utils/multithreading/worker_pool.py:102}  Number of nodes: 1\n",
-      "Number of CPUs per node: 1\n",
-      "Number of GPUs per node: 0\n",
-      "Number of threads across all nodes: 1\n",
-      "2023-12-22 01:31:00,170 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:27}  Building WorkerPool...DONE!\n",
-      "2023-12-22 01:31:00,170 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:27}  Building WorkerPool...DONE!\n",
-      "2023-12-22 01:31:00,171 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:32}  Building experiment folders...\n",
-      "2023-12-22 01:31:00,171 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:32}  Building experiment folders...\n",
-      "2023-12-22 01:31:00,171 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:35}  \n",
-      "\n",
-      "\tFolder where all results are stored: /media/sacardoz/Storage/nuplan/exp/exp/simulation/closed_loop_multiagent/2023.12.22.01.30.59\n",
-      "\n",
-      "2023-12-22 01:31:00,171 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:35}  \n",
+      "2023-12-22 02:28:15,286 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:27}  Building WorkerPool...DONE!\n",
+      "2023-12-22 02:28:15,286 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:32}  Building experiment folders...\n",
+      "2023-12-22 02:28:15,286 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:35}  \n",
       "\n",
-      "\tFolder where all results are stored: /media/sacardoz/Storage/nuplan/exp/exp/simulation/closed_loop_multiagent/2023.12.22.01.30.59\n",
+      "\tFolder where all results are stored: /media/sacardoz/Storage/nuplan/exp/exp/simulation/closed_loop_multiagent/2023.12.22.02.28.14\n",
       "\n",
-      "2023-12-22 01:31:00,176 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:70}  Building experiment folders...DONE!\n",
-      "2023-12-22 01:31:00,176 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:70}  Building experiment folders...DONE!\n",
-      "2023-12-22 01:31:00,176 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_callback_builder.py:52}  Building AbstractCallback...\n",
-      "2023-12-22 01:31:00,176 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_callback_builder.py:52}  Building AbstractCallback...\n",
-      "2023-12-22 01:31:00,177 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_callback_builder.py:68}  Building AbstractCallback: 0...DONE!\n",
-      "2023-12-22 01:31:00,177 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_callback_builder.py:68}  Building AbstractCallback: 0...DONE!\n",
-      "2023-12-22 01:31:00,177 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:49}  Building simulations...\n",
-      "2023-12-22 01:31:00,177 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:49}  Building simulations...\n",
-      "2023-12-22 01:31:00,177 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:55}  Extracting scenarios...\n",
-      "2023-12-22 01:31:00,177 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:55}  Extracting scenarios...\n",
-      "2023-12-22 01:31:00,178 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/common/utils/distributed_scenario_filter.py:83}  Building Scenarios in mode DistributedMode.SINGLE_NODE\n",
-      "2023-12-22 01:31:00,178 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/common/utils/distributed_scenario_filter.py:83}  Building Scenarios in mode DistributedMode.SINGLE_NODE\n",
-      "2023-12-22 01:31:00,178 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:18}  Building AbstractScenarioBuilder...\n",
-      "2023-12-22 01:31:00,178 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:18}  Building AbstractScenarioBuilder...\n",
-      "2023-12-22 01:31:00,197 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:21}  Building AbstractScenarioBuilder...DONE!\n",
-      "2023-12-22 01:31:00,197 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:21}  Building AbstractScenarioBuilder...DONE!\n",
-      "2023-12-22 01:31:00,197 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_filter_builder.py:35}  Building ScenarioFilter...\n",
-      "2023-12-22 01:31:00,197 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_filter_builder.py:35}  Building ScenarioFilter...\n",
-      "2023-12-22 01:31:00,198 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_filter_builder.py:44}  Building ScenarioFilter...DONE!\n",
-      "2023-12-22 01:31:00,198 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_filter_builder.py:44}  Building ScenarioFilter...DONE!\n",
-      "2023-12-22 01:31:00,218 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:76}  Building metric engines...\n",
-      "2023-12-22 01:31:00,218 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:76}  Building metric engines...\n",
-      "2023-12-22 01:31:00,239 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:78}  Building metric engines...DONE\n",
-      "2023-12-22 01:31:00,239 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:78}  Building metric engines...DONE\n",
-      "2023-12-22 01:31:00,239 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:82}  Building simulations from 1 scenarios...\n",
-      "2023-12-22 01:31:00,239 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:82}  Building simulations from 1 scenarios...\n",
-      "2023-12-22 01:31:00,354 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/model_builder.py:18}  Building TorchModuleWrapper...\n",
-      "2023-12-22 01:31:00,354 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/model_builder.py:18}  Building TorchModuleWrapper...\n",
-      "2023-12-22 01:31:00,383 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/model_builder.py:21}  Building TorchModuleWrapper...DONE!\n",
-      "2023-12-22 01:31:00,383 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/model_builder.py:21}  Building TorchModuleWrapper...DONE!\n",
-      "2023-12-22 01:31:00,505 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:142}  Building simulations...DONE!\n",
-      "2023-12-22 01:31:00,505 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:142}  Building simulations...DONE!\n"
+      "2023-12-22 02:28:15,288 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:70}  Building experiment folders...DONE!\n",
+      "2023-12-22 02:28:15,288 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_callback_builder.py:52}  Building AbstractCallback...\n",
+      "2023-12-22 02:28:15,288 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_callback_builder.py:68}  Building AbstractCallback: 0...DONE!\n",
+      "2023-12-22 02:28:15,288 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:49}  Building simulations...\n",
+      "2023-12-22 02:28:15,288 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:55}  Extracting scenarios...\n",
+      "2023-12-22 02:28:15,288 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/common/utils/distributed_scenario_filter.py:83}  Building Scenarios in mode DistributedMode.SINGLE_NODE\n",
+      "2023-12-22 02:28:15,289 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:18}  Building AbstractScenarioBuilder...\n",
+      "2023-12-22 02:28:15,302 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:21}  Building AbstractScenarioBuilder...DONE!\n",
+      "2023-12-22 02:28:15,302 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_filter_builder.py:35}  Building ScenarioFilter...\n",
+      "2023-12-22 02:28:15,303 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_filter_builder.py:44}  Building ScenarioFilter...DONE!\n",
+      "2023-12-22 02:28:15,322 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:76}  Building metric engines...\n",
+      "2023-12-22 02:28:15,352 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:78}  Building metric engines...DONE\n",
+      "2023-12-22 02:28:15,352 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:82}  Building simulations from 1 scenarios...\n",
+      "2023-12-22 02:28:15,506 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/model_builder.py:18}  Building TorchModuleWrapper...\n",
+      "2023-12-22 02:28:15,547 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/model_builder.py:21}  Building TorchModuleWrapper...DONE!\n",
+      "2023-12-22 02:28:16,201 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:142}  Building simulations...DONE!\n"
      ]
     }
    ],
@@ -276,7 +246,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 21,
+   "execution_count": 6,
    "id": "223284d4",
    "metadata": {},
    "outputs": [],
@@ -286,7 +256,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 22,
+   "execution_count": 7,
    "id": "907ad940",
    "metadata": {},
    "outputs": [],
@@ -307,7 +277,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 23,
+   "execution_count": 8,
    "id": "90b79421",
    "metadata": {},
    "outputs": [
@@ -316,6 +286,28 @@
      "output_type": "stream",
      "text": [
       "SimulationIteration(time_point=TimePoint(time_us=1623707846350127), index=0)\n",
+      "2023-12-22 02:28:27,237 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153}  IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+      "2023-12-22 02:28:28,208 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153}  IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+      "2023-12-22 02:28:29,094 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153}  IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+      "2023-12-22 02:28:30,074 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153}  IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+      "2023-12-22 02:28:31,080 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153}  IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+      "2023-12-22 02:28:32,985 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153}  IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+      "2023-12-22 02:28:34,668 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153}  IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+      "2023-12-22 02:28:35,448 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153}  IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+      "2023-12-22 02:28:36,250 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153}  IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+      "2023-12-22 02:28:38,638 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153}  IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+      "2023-12-22 02:28:43,540 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153}  IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+      "2023-12-22 02:28:44,367 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153}  IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+      "2023-12-22 02:28:51,440 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153}  IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+      "2023-12-22 02:28:52,331 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153}  IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+      "2023-12-22 02:28:53,206 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153}  IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+      "2023-12-22 02:28:54,967 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153}  IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+      "2023-12-22 02:28:57,304 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153}  IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+      "2023-12-22 02:28:58,116 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153}  IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+      "2023-12-22 02:28:58,881 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153}  IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+      "2023-12-22 02:28:59,765 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153}  IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+      "2023-12-22 02:29:00,661 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153}  IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
+      "2023-12-22 02:29:01,327 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153}  IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
       "SimulationIteration(time_point=TimePoint(time_us=1623707846450055), index=1)\n",
       "SimulationIteration(time_point=TimePoint(time_us=1623707846549980), index=2)\n",
       "SimulationIteration(time_point=TimePoint(time_us=1623707846649908), index=3)\n",
@@ -326,6 +318,7 @@
       "SimulationIteration(time_point=TimePoint(time_us=1623707847149533), index=8)\n",
       "SimulationIteration(time_point=TimePoint(time_us=1623707847249494), index=9)\n",
       "SimulationIteration(time_point=TimePoint(time_us=1623707847349489), index=10)\n",
+      "2023-12-22 02:29:31,281 WARNING {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/simulation/planner/idm_planner.py:153}  IDMPlanner could not find valid path to the target roadblock. Using longest route found instead\n",
       "SimulationIteration(time_point=TimePoint(time_us=1623707847449511), index=11)\n",
       "SimulationIteration(time_point=TimePoint(time_us=1623707847549545), index=12)\n",
       "SimulationIteration(time_point=TimePoint(time_us=1623707847649595), index=13)\n",
@@ -376,7 +369,69 @@
       "SimulationIteration(time_point=TimePoint(time_us=1623707852149873), index=58)\n",
       "SimulationIteration(time_point=TimePoint(time_us=1623707852249912), index=59)\n",
       "SimulationIteration(time_point=TimePoint(time_us=1623707852349958), index=60)\n",
-      "SimulationIteration(time_point=TimePoint(time_us=1623707852450015), index=61)\n"
+      "SimulationIteration(time_point=TimePoint(time_us=1623707852450015), index=61)\n",
+      "SimulationIteration(time_point=TimePoint(time_us=1623707852550074), index=62)\n",
+      "SimulationIteration(time_point=TimePoint(time_us=1623707852650134), index=63)\n",
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+      "SimulationIteration(time_point=TimePoint(time_us=1623707852850274), index=65)\n",
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+      "SimulationIteration(time_point=TimePoint(time_us=1623707853150437), index=68)\n",
+      "SimulationIteration(time_point=TimePoint(time_us=1623707853250455), index=69)\n",
+      "SimulationIteration(time_point=TimePoint(time_us=1623707853350458), index=70)\n",
+      "SimulationIteration(time_point=TimePoint(time_us=1623707853450447), index=71)\n",
+      "SimulationIteration(time_point=TimePoint(time_us=1623707853550423), index=72)\n",
+      "SimulationIteration(time_point=TimePoint(time_us=1623707853650396), index=73)\n",
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+      "SimulationIteration(time_point=TimePoint(time_us=1623707854050282), index=77)\n",
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+      "SimulationIteration(time_point=TimePoint(time_us=1623707856449843), index=101)\n",
+      "SimulationIteration(time_point=TimePoint(time_us=1623707856549842), index=102)\n",
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+      "SimulationIteration(time_point=TimePoint(time_us=1623707856849830), index=105)\n",
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+      "SimulationIteration(time_point=TimePoint(time_us=1623707857549895), index=112)\n",
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+      "SimulationIteration(time_point=TimePoint(time_us=1623707857849999), index=115)\n",
+      "SimulationIteration(time_point=TimePoint(time_us=1623707857950037), index=116)\n",
+      "SimulationIteration(time_point=TimePoint(time_us=1623707858050070), index=117)\n",
+      "SimulationIteration(time_point=TimePoint(time_us=1623707858150098), index=118)\n",
+      "SimulationIteration(time_point=TimePoint(time_us=1623707858250120), index=119)\n",
+      "SimulationIteration(time_point=TimePoint(time_us=1623707858350135), index=120)\n",
+      "SimulationIteration(time_point=TimePoint(time_us=1623707858450145), index=121)\n",
+      "SimulationIteration(time_point=TimePoint(time_us=1623707858550149), index=122)\n",
+      "SimulationIteration(time_point=TimePoint(time_us=1623707858650146), index=123)\n"
      ]
     }
    ],
@@ -455,7 +510,7 @@
      },
      "metadata": {
       "application/vnd.bokehjs_exec.v0+json": {
-       "server_id": "e02ac0e6136c41bc81ee6791378262dd"
+       "server_id": "15b154fce756424d9ca7e3de9f9760be"
       }
      },
      "output_type": "display_data"
@@ -464,26 +519,26 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "2023-12-22 01:27:36,238 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140}  Error creating dataset. Could not read schema from 'run_sim_closed_loop/training_raster_experiment/train_default_raster/2023.11.14.22.55.23/hparams.yaml'. Is this a 'parquet' file?: Could not open Parquet input source 'run_sim_closed_loop/training_raster_experiment/train_default_raster/2023.11.14.22.55.23/hparams.yaml': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
-      "2023-12-22 01:27:36,239 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140}  Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
-      "2023-12-22 01:27:36,240 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140}  Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
-      "2023-12-22 01:27:36,240 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140}  Error creating dataset. Could not read schema from 'pretrained_checkpoints/gc_pgp_checkpoint.ckpt'. Is this a 'parquet' file?: Could not open Parquet input source 'pretrained_checkpoints/gc_pgp_checkpoint.ckpt': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
-      "2023-12-22 01:27:36,241 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140}  Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
-      "2023-12-22 01:27:36,241 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140}  Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
-      "2023-12-22 01:27:36,241 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140}  Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
-      "2023-12-22 01:27:36,242 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140}  Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
-      "2023-12-22 01:27:36,244 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/simulation_tile.py:172}  Minimum frame time=0.017 s\n"
+      "2023-12-22 01:52:05,312 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140}  Error creating dataset. Could not read schema from 'run_sim_closed_loop/training_raster_experiment/train_default_raster/2023.11.14.22.55.23/hparams.yaml'. Is this a 'parquet' file?: Could not open Parquet input source 'run_sim_closed_loop/training_raster_experiment/train_default_raster/2023.11.14.22.55.23/hparams.yaml': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+      "2023-12-22 01:52:05,313 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140}  Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+      "2023-12-22 01:52:05,313 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140}  Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+      "2023-12-22 01:52:05,314 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140}  Error creating dataset. Could not read schema from 'pretrained_checkpoints/gc_pgp_checkpoint.ckpt'. Is this a 'parquet' file?: Could not open Parquet input source 'pretrained_checkpoints/gc_pgp_checkpoint.ckpt': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+      "2023-12-22 01:52:05,314 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140}  Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+      "2023-12-22 01:52:05,314 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140}  Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+      "2023-12-22 01:52:05,315 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140}  Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+      "2023-12-22 01:52:05,315 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140}  Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+      "2023-12-22 01:52:05,318 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/simulation_tile.py:172}  Minimum frame time=0.017 s\n"
      ]
     },
     {
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "Rendering a scenario: 100%|██████████| 1/1 [00:00<00:00, 84.37it/s]\n",
+      "Rendering a scenario: 100%|██████████| 1/1 [00:00<00:00, 60.29it/s]\n",
       "WARNING:bokeh.core.validation.check:W-1000 (MISSING_RENDERERS): Plot has no renderers: Figure(id='1005', ...)\n",
-      "INFO:tornado.access:200 GET /autoload.js?bokeh-autoload-element=1003&bokeh-absolute-url=http://localhost:5000&resources=none (::1) 919.22ms\n",
+      "INFO:tornado.access:200 GET /autoload.js?bokeh-autoload-element=1003&bokeh-absolute-url=http://localhost:5000&resources=none (::1) 846.47ms\n",
       "INFO:bokeh.server.views.ws:WebSocket connection opened\n",
-      "INFO:tornado.access:101 GET /ws?id=935f7e47-d5c0-410b-9cdd-a988d9f0ac32&origin=da2f890a-eb18-4637-9199-dd0f06169aef&swVersion=4&extensionId=&platform=electron&vscode-resource-base-authority=vscode-resource.vscode-cdn.net&parentOrigin=vscode-file%3A%2F%2Fvscode-app&purpose=notebookRenderer (::1) 0.68ms\n",
+      "INFO:tornado.access:101 GET /ws?id=935f7e47-d5c0-410b-9cdd-a988d9f0ac32&origin=da2f890a-eb18-4637-9199-dd0f06169aef&swVersion=4&extensionId=&platform=electron&vscode-resource-base-authority=vscode-resource.vscode-cdn.net&parentOrigin=vscode-file%3A%2F%2Fvscode-app&purpose=notebookRenderer (::1) 0.64ms\n",
       "INFO:bokeh.server.views.ws:ServerConnection created\n"
      ]
     },
@@ -491,9 +546,9 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "2023-12-22 01:27:37,148 INFO {/home/sacardoz/miniconda3/envs/nuplan/lib/python3.9/site-packages/tornado/web.py:2344}  200 GET /autoload.js?bokeh-autoload-element=1003&bokeh-absolute-url=http://localhost:5000&resources=none (::1) 919.22ms\n",
-      "2023-12-22 01:27:37,155 INFO {/media/sacardoz/Storage/nuplan-devkit/tutorials/utils/tutorial_utils.py:267}  Done rendering!\n",
-      "2023-12-22 01:27:37,174 INFO {/home/sacardoz/miniconda3/envs/nuplan/lib/python3.9/site-packages/tornado/web.py:2344}  101 GET /ws?id=935f7e47-d5c0-410b-9cdd-a988d9f0ac32&origin=da2f890a-eb18-4637-9199-dd0f06169aef&swVersion=4&extensionId=&platform=electron&vscode-resource-base-authority=vscode-resource.vscode-cdn.net&parentOrigin=vscode-file%3A%2F%2Fvscode-app&purpose=notebookRenderer (::1) 0.68ms\n"
+      "2023-12-22 01:52:06,143 INFO {/home/sacardoz/miniconda3/envs/nuplan/lib/python3.9/site-packages/tornado/web.py:2344}  200 GET /autoload.js?bokeh-autoload-element=1003&bokeh-absolute-url=http://localhost:5000&resources=none (::1) 846.47ms\n",
+      "2023-12-22 01:52:06,157 INFO {/media/sacardoz/Storage/nuplan-devkit/tutorials/utils/tutorial_utils.py:267}  Done rendering!\n",
+      "2023-12-22 01:52:06,158 INFO {/home/sacardoz/miniconda3/envs/nuplan/lib/python3.9/site-packages/tornado/web.py:2344}  101 GET /ws?id=935f7e47-d5c0-410b-9cdd-a988d9f0ac32&origin=da2f890a-eb18-4637-9199-dd0f06169aef&swVersion=4&extensionId=&platform=electron&vscode-resource-base-authority=vscode-resource.vscode-cdn.net&parentOrigin=vscode-file%3A%2F%2Fvscode-app&purpose=notebookRenderer (::1) 0.64ms\n"
      ]
     }
    ],

nuplan/planning/simulation/occupancy_map/strtree_occupancy_map.py

@@ -87,7 +87,7 @@ class STRTreeOccupancyMap(OccupancyMap):
         :param ignore_id: the key corresponding to the geometry to be skipped
         :return: GeometryMap
         """
-        return {geom_id: geom for geom_id, geom in self._geom_map.items() if geom_id not in ignore_id}
+        return {geom_id: geom for geom_id, geom in self._geom_map.items() if geom_id != ignore_id}
 
     def _build_strtree(self, ignore_id: Optional[str] = None) -> Tuple[STRtree, Dict[int, str]]:
         """