From 4282a06183c10d2f593fc891b6bc7a0859264e88 Mon Sep 17 00:00:00 2001
From: Quantizr <9859727+Quantizr@users.noreply.github.com>
Date: Wed, 19 Jun 2024 17:21:27 -0700
Subject: [PATCH] fix action_history being opposite sign

---
 tinyphysics.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tinyphysics.py b/tinyphysics.py
index b68d61b9..f14faeb0 100644
--- a/tinyphysics.py
+++ b/tinyphysics.py
@@ -117,7 +117,7 @@ def get_data(self, data_path: str) -> pd.DataFrame:
       'v_ego': df['vEgo'].values,
       'a_ego': df['aEgo'].values,
       'target_lataccel': df['targetLateralAcceleration'].values,
-      'steer_command': df['steerCommand'].values
+      'steer_command': -df['steerCommand'].values  # steer commands are logged with left-positive convention but this simulator uses right-positive
     })
     return processed_df