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fixed bridge functions are not working as expectation #73

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fixed bridge functions are not working as expectation #73

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9 changes: 7 additions & 2 deletions Bridges/carla_bridge.py
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Original file line number Diff line number Diff line change
Expand Up @@ -181,11 +181,16 @@ def convert_vector3d_from_agent_to_source(

def convert_location_from_agent_to_source(self, source: Location) -> carla.Location:
"""Convert Agent's Location to a Carla.Location."""
return carla.Location(x=source.x, y=-source.z, z=source.y)
return carla.Location(x=source.x, y=source.z, z=source.y)

def convert_rotation_from_agent_to_source(self, source: Rotation) -> carla.Rotation:
"""Convert Agent's Rotation to a Carla.Rotation."""
return carla.Rotation(pitch=source.yaw, yaw=source.pitch, roll=source.roll)
roll, pitch, yaw = source.roll, source.pitch, -source.yaw
if yaw <= 0:
yaw = yaw + 270
else:
yaw = yaw - 90
return carla.Rotation(roll=roll, pitch=pitch, yaw=yaw)

def convert_transform_from_agent_to_source(
self, source: Transform
Expand Down