Release 260111

tools/sim/README.md

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+openpilot in simulator
+=====================
+
+openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive).
+
+## Launching openpilot
+First, start openpilot.
+``` bash
+# Run locally
+./tools/sim/launch_openpilot.sh
+```
+
+## Bridge usage
+```
+$ ./run_bridge.py -h
+usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera]
+Bridge between the simulator and openpilot.
+
+options:
+  -h, --help            show this help message and exit
+  --joystick
+  --high_quality
+  --dual_camera
+```
+
+#### 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)
+
+#### All inputs:
+
+```
+| 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      |
+```
+
+## MetaDrive
+
+### Launching Metadrive
+Start bridge processes located in tools/sim:
+``` bash
+./run_bridge.py
+```