Revert "TRv7 w DTR"

This reverts commit 9158a18315.
2026-09-09 09:43:47 +08:00 · 2025-05-06 16:46:32 -05:00
parent 9158a18315
commit 7c388640c0
5 changed files with 3 additions and 1 deletions
@@ -57,7 +57,9 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
                                                                 action_t=long_action_t)
    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)

-    desired_curvature = model_output['desired_curvature'][0, 0]
+    desired_curvature = get_curvature_from_plan(plan[:, Plan.T_FROM_CURRENT_EULER][:, 2],
+                                                plan[:, Plan.ORIENTATION_RATE][:, 2],
+                                                ModelConstants.T_IDXS, v_ego, lat_action_t)
    if v_ego > MIN_LAT_CONTROL_SPEED:
      desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
    else: