def METHOD_NAME(self, discrete_branches: List[int]) -> torch.Tensor:
    """
    Flatten this AgentAction into a single torch Tensor of dimension (batch, num_continuous + num_one_hot_discrete).
    Discrete actions are converted into one-hot and concatenated with continuous actions.
    :param discrete_branches: List of sizes for discrete actions.
    :return: Tensor of flattened actions.
    """
    # if there are any discrete actions, create one-hot
    if self.discrete_list is not None and len(self.discrete_list) > 0:
        discrete_oh = ModelUtils.actions_to_onehot(
            self.discrete_tensor, discrete_branches
        )
        discrete_oh = torch.cat(discrete_oh, dim=1)
    else:
        discrete_oh = torch.empty(0)
    return torch.cat([self.continuous_tensor, discrete_oh], dim=-1)