metadrive: fix wasd steer signs (#30623)

* Swap AD signs

* Fix type annotation

* fix user torque

---------

Co-authored-by: Justin Newberry <justin@comma.ai>

tools/sim/bridge/common.py

@@ -147,7 +147,7 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
 
       self.simulator_state.user_brake = brake_manual
       self.simulator_state.user_gas = throttle_manual
-      self.simulator_state.user_torque = steer_manual * 10000
+      self.simulator_state.user_torque = steer_manual * -10000
 
       steer_manual = steer_manual * -40
 

tools/sim/lib/keyboard_ctrl.py

@@ -62,11 +62,11 @@ def keyboard_poll_thread(q: 'Queue[str]'):
     elif c == 'w':
       q.put("throttle_%f" % 1.0)
     elif c == 'a':
-      q.put("steer_%f" % 0.15)
+      q.put("steer_%f" % -0.15)
     elif c == 's':
       q.put("brake_%f" % 1.0)
     elif c == 'd':
-      q.put("steer_%f" % -0.15)
+      q.put("steer_%f" % 0.15)
     elif c == 'z':
       q.put("blinker_left")
     elif c == 'x':

tools/sim/lib/manual_ctrl.py

@@ -183,6 +183,6 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
 
 if __name__ == '__main__':
   from multiprocessing import Process, Queue
-  q: Queue[str] = Queue()
+  q: 'Queue[str]' = Queue()
   p = Process(target=wheel_poll_thread, args=(q,))
   p.start()