ICCV2025-RealADSim-ClosedLoop-SubmissionDemo / navsim /planning /script /builders /observation_builder.py
| from typing import cast | |
| from hydra.utils import instantiate | |
| from omegaconf import DictConfig | |
| from nuplan.planning.scenario_builder.abstract_scenario import AbstractScenario | |
| from nuplan.planning.simulation.observation.abstract_observation import AbstractObservation | |
| def build_observations(observation_cfg: DictConfig, scenario: AbstractScenario) -> AbstractObservation: | |
| """ | |
| Instantiate observations | |
| :param observation_cfg: config of a planner | |
| :param scenario: scenario | |
| :return AbstractObservation | |
| """ | |
| observation = cast(AbstractObservation, instantiate(observation_cfg, scenario=scenario)) | |
| return observation | |