From f10d6d57380e9d85f9a181e9adc11cbcaa21e11e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Tue, 12 Dec 2023 14:09:07 -0800 Subject: [PATCH] metadrive: fix wasd steer signs (#30623) * Swap AD signs * Fix type annotation * fix user torque --------- Co-authored-by: Justin Newberry old-commit-hash: 43e1409fd2fa4a92350a54434602b71b1874fd60 --- tools/sim/bridge/common.py | 2 +- tools/sim/lib/keyboard_ctrl.py | 4 ++-- tools/sim/lib/manual_ctrl.py | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py index a0e6538b2c..35656f39f3 100644 --- a/tools/sim/bridge/common.py +++ b/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 diff --git a/tools/sim/lib/keyboard_ctrl.py b/tools/sim/lib/keyboard_ctrl.py index c37f6ea479..f03d79c312 100644 --- a/tools/sim/lib/keyboard_ctrl.py +++ b/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': diff --git a/tools/sim/lib/manual_ctrl.py b/tools/sim/lib/manual_ctrl.py index 04e228c18c..5e826e7baa 100755 --- a/tools/sim/lib/manual_ctrl.py +++ b/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()