How can I use a custom planner to control the trajectories of non-ego vehicles?

[ZhipengWu1996]

Does the NuPlan simulator support using custom policies to control the trajectories of non-ego vehicles? If so, which specific configurations should be modified? Thank you!

[JingyuQian]

For non-ego vehicles, they have a reactive behavior named IDM "intelligent driving model". The config you're looking for is closed_loop_reactive_agents.yaml and the idm logic is defined under nuplan/planning/simulation/observation/idm. That's where you want to look.