diff --git a/tools/sim/README.md b/tools/sim/README.md
index 69a89aefab..b10c957c3e 100644
--- a/tools/sim/README.md
+++ b/tools/sim/README.md
@@ -1,58 +1,76 @@
 openpilot in simulator
 =====================
 
-openpilot implements a [bridge](bridge.py) that allows it to run in the [CARLA simulator](https://carla.org/).
+openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive) or [CARLA simulator](https://carla.org/).
 
-## System Requirements
+## Launching openpilot
+First, start openpilot.
+``` bash
+# Run locally
+./tools/sim/launch_openpilot.sh
+```
 
-openpilot doesn't have any extreme hardware requirements, however CARLA requires an NVIDIA graphics card and is very resource-intensive and may not run smoothly on your system.
-For this case, we have the simulator in low quality by default.
+## Bridge usage
+```
+$ ./run_bridge.py -h
+usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera] [--simulator SIMULATOR] [--town TOWN] [--spawn_point NUM_SELECTED_SPAWN_POINT] [--host HOST] [--port PORT]
 
-You can also check out the [CARLA python documentation](https://carla.readthedocs.io/en/latest/python_api/) to find more parameters to tune that might increase performance on your system.
+Bridge between the simulator and openpilot.
 
-## Running the simulator
-Start Carla simulator, openpilot and bridge processes located in tools/sim:
-``` bash
-# Terminal 1
-./start_carla.sh
+options:
+  -h, --help            show this help message and exit
+  --joystick
+  --high_quality
+  --dual_camera
+  --simulator SIMULATOR
+  --town TOWN
+  --spawn_point NUM_SELECTED_SPAWN_POINT
+  --host HOST
+  --port PORT
+```
 
-# Terminal 2 - Run openpilot and bridge in one Docker:
-./start_openpilot_docker.sh
+#### Bridge Controls:
+- To engage openpilot press 2, then press 1 to increase the speed and 2 to decrease.
+- To disengage, press "S" (simulates a user brake)
 
-# Running the latest local code execute
-    # Terminal 2:
-    ./launch_openpilot.sh
-    # Terminal 3
-    ./bridge.py
-```
+#### All inputs:
 
-### Bridge usage
-_Same commands hold for start_openpilot_docker_
 ```
-$ ./bridge.py -h
-Usage: bridge.py [options]
-Bridge between CARLA and openpilot.
+| key  |   functionality       |
+|------|-----------------------|
+|  1   | Cruise Resume / Accel |
+|  2   | Cruise Set    / Decel |
+|  3   | Cruise Cancel         |
+|  r   | Reset Simulation      |
+|  i   | Toggle Ignition       |
+|  q   | Exit all              |
+| wasd | Control manually      |
+```
 
-Options:
-  -h, --help            show this help message and exit
-  --joystick            Use joystick input to control the car
-  --high_quality        Set simulator to higher quality (requires good GPU)
-  --town TOWN           Select map to drive in
-  --spawn_point NUM     Number of the spawn point to start in
-  --host HOST           Host address of Carla client (127.0.0.1 as default)
-  --port PORT           Port of Carla client (2000 as default)
+## MetaDrive
+
+### Launching Metadrive
+Start bridge processes located in tools/sim:
+``` bash
+./run_bridge.py --simulator metadrive
 ```
 
-To engage openpilot press 1 a few times while focused on bridge.py to increase the cruise speed.
-All inputs:
+## Carla
 
-| key  |   functionality   |
-|:----:|:-----------------:|
-|  1   |  Cruise up 1 mph  |
-|  2   | Cruise down 1 mph |
-|  3   |   Cruise cancel   |
-|  q   |     Exit all      |
-| wasd | Control manually  |
+openpilot doesn't have any extreme hardware requirements, however CARLA requires an NVIDIA graphics card and is very resource-intensive and may not run smoothly on your system.
+For this case, we have the simulator in low quality by default.
+
+You can also check out the [CARLA python documentation](https://carla.readthedocs.io/en/latest/python_api/) to find more parameters to tune that might increase performance on your system.
+
+### Launching Carla
+Start Carla simulator and bridge processes located in tools/sim:
+``` bash
+# Terminal 1
+./start_carla.sh
+
+# Terminal 2
+./run_bridge.py --simulator carla
+```
 
 ## Further Reading
 
diff --git a/tools/sim/lib/keyboard_ctrl.py b/tools/sim/lib/keyboard_ctrl.py
index 2f27e06969..a9d22c9757 100644
--- a/tools/sim/lib/keyboard_ctrl.py
+++ b/tools/sim/lib/keyboard_ctrl.py
@@ -19,15 +19,15 @@ STDIN_FD = sys.stdin.fileno()
 
 
 KEYBOARD_HELP = """
-  | key  |   functionality    |
-  -----------------------------
-  |  1   |   Cruise Resume    |
-  |  2   |    Cruise Set      |
-  |  3   |   Cruise Cancel    |
-  |  r   |  Reset Simulation  |
-  |  i   |  Toggle Ignition   |
-  |  q   |      Exit all      |
-  | wasd |  Control manually  |
+  | key  |   functionality       |
+  |------|-----------------------|
+  |  1   | Cruise Resume / Accel |
+  |  2   | Cruise Set    / Decel |
+  |  3   | Cruise Cancel         |
+  |  r   | Reset Simulation      |
+  |  i   | Toggle Ignition       |
+  |  q   | Exit all              |
+  | wasd | Control manually      |
 """
 
 
diff --git a/tools/sim/run_bridge.py b/tools/sim/run_bridge.py
index 2f0b99b20d..9914503cd0 100755
--- a/tools/sim/run_bridge.py
+++ b/tools/sim/run_bridge.py
@@ -11,7 +11,7 @@ from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridg
 
 
 def parse_args(add_args=None):
-  parser = argparse.ArgumentParser(description='Bridge between CARLA and openpilot.')
+  parser = argparse.ArgumentParser(description='Bridge between the simulator and openpilot.')
   parser.add_argument('--joystick', action='store_true')
   parser.add_argument('--high_quality', action='store_true')
   parser.add_argument('--dual_camera', action='store_true')
diff --git a/tools/sim/tmux_script.sh b/tools/sim/tmux_script.sh
index 333fce304b..2a1e74958a 100755
--- a/tools/sim/tmux_script.sh
+++ b/tools/sim/tmux_script.sh
@@ -2,5 +2,5 @@
 tmux new -d -s carla-sim
 tmux send-keys "./launch_openpilot.sh" ENTER
 tmux neww
-tmux send-keys "./bridge.py $*" ENTER
+tmux send-keys "./run_bridge.py $*" ENTER
 tmux a -t carla-sim