For nuPlan v1.1 : Is it possible to modify the behavior of other vehicles?

[wenjing1170]

I'm new to nuPlan and have a few questions regarding its LiDAR metadata:

nuPlan dataset version: nuplan-v1.1 nuplan-devkit: master branch and 0.3 release

Regarding the nuPlan simulator: I understand that during simulation the system loads map replay data. My question is, for one of the official scenarios, is it possible to modify the behavior of other vehicles? For example, can I make a vehicle near the ego vehicle suddenly accelerate, decelerate, or change its route? to create some driving scenarios involving safety.