CI/Simulator: Add Metadrive test to CI (#32352)

* works consistently

* ci gha

* fix

* navd

* fix

* cleanup

* change button

* cleanup

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: aca01365e6715c1c5c18242e81e27c6feed151c6

tools/sim/bridge/common.py

@@ -46,6 +46,7 @@ class SimulatorBridge(ABC):
     self.world: World | None = None
 
     self.past_startup_engaged = False
+    self.startup_button_prev = True
 
   def _on_shutdown(self, signal, frame):
     self.shutdown()
@@ -161,7 +162,8 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
 
         self.past_startup_engaged = True
       elif not self.past_startup_engaged and controlsState.engageable:
-        self.simulator_state.cruise_button = CruiseButtons.DECEL_SET # force engagement on startup
+        self.simulator_state.cruise_button = CruiseButtons.DECEL_SET if self.startup_button_prev else CruiseButtons.MAIN # force engagement on startup
+        self.startup_button_prev = not self.startup_button_prev
 
       throttle_out = throttle_op if self.simulator_state.is_engaged else throttle_manual
       brake_out = brake_op if self.simulator_state.is_engaged else brake_manual

tools/sim/tests/test_sim_bridge.py

@@ -62,8 +62,6 @@ class TestSimBridgeBase(unittest.TestCase):
     while time.monotonic() < start_time + max_time_per_step:
       sm.update()
 
-      q.put("cruise_down")  # Try engaging
-
       if sm.all_alive() and sm['controlsState'].active:
         control_active += 1