added checks for vehicles to be entering the scenario fast enough and cut connector lines so that more intersections happen near the middle

added more filter options, addedd yaml files to allow loading files from training, val and test sets automatically, and added a list of scenario types that might be usefull. (turns out nuplan has around 70 scenario types total)

updates to wedge occluder and  new notebook to visualize differneces between occluded and non occluded runs