Metadrive: fix reset (#30142)

* fix reset * 2 seconds
2 years ago · 4d7caff0c8
parent 3c55f76790
commit 4d7caff0c8
1 changed files with 2 additions and 1 deletions
--- a/tools/sim/bridge/metadrive/metadrive_world.py
+++ b/tools/sim/bridge/metadrive/metadrive_world.py
@ -38,7 +38,7 @@ class MetaDriveWorld(World):
    self.should_reset = False

  def apply_controls(self, steer_angle, throttle_out, brake_out):
-    if (time.monotonic() - self.reset_time) > 5:
+    if (time.monotonic() - self.reset_time) > 2:
      self.vc[0] = steer_angle

      if throttle_out:
@ -50,6 +50,7 @@ class MetaDriveWorld(World):
      self.vc[1] = 0

    self.controls_send.send([*self.vc, self.should_reset])
+    self.should_reset = False

  def read_sensors(self, state: SimulatorState):
    while self.state_recv.poll(0):