simulator: Correctly handle arrival at destination (#31807)

old-commit-hash: 8a03884500

tools/sim/bridge/metadrive/metadrive_bridge.py

@@ -75,6 +75,7 @@ class MetaDriveBridge(SimulatorBridge):
       on_continuous_line_done=False,
       crash_vehicle_done=False,
       crash_object_done=False,
+      arrive_dest_done=False,
       traffic_density=0.0, # traffic is incredibly expensive
       map_config=create_map(),
       decision_repeat=1,

tools/sim/bridge/metadrive/metadrive_process.py

@@ -22,7 +22,7 @@ C3_HPR = Vec3(0, 0,0)
 metadrive_simulation_state = namedtuple("metadrive_simulation_state", ["running", "done", "done_info"])
 metadrive_vehicle_state = namedtuple("metadrive_vehicle_state", ["velocity", "position", "bearing", "steering_angle"])
 
-def apply_metadrive_patches():
+def apply_metadrive_patches(arrive_dest_done=True):
   # By default, metadrive won't try to use cuda images unless it's used as a sensor for vehicles, so patch that in
   def add_image_sensor_patched(self, name: str, cls, args):
     if self.global_config["image_on_cuda"]:# and name == self.global_config["vehicle_config"]["image_source"]:
@@ -44,12 +44,14 @@ def apply_metadrive_patches():
   def arrive_destination_patch(self, *args, **kwargs):
     return False
 
-  MetaDriveEnv._is_arrive_destination = arrive_destination_patch
+  if not arrive_dest_done:
+    MetaDriveEnv._is_arrive_destination = arrive_destination_patch
 
 def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera_array, image_lock,
                       controls_recv: Connection, simulation_state_send: Connection, vehicle_state_send: Connection,
                       exit_event):
-  apply_metadrive_patches()
+  arrive_dest_done = config.pop("arrive_dest_done", True)
+  apply_metadrive_patches(arrive_dest_done)
 
   road_image = np.frombuffer(camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3))
   if dual_camera:

tools/sim/scenarios/metadrive/stay_in_lane.py

@@ -65,6 +65,7 @@ class MetaDriveBridge(SimulatorBridge):
       on_continuous_line_done=True,
       crash_vehicle_done=True,
       crash_object_done=True,
+      arrive_dest_done=True,
       traffic_density=0.0,
       map_config=create_map(),
       map_region_size=2048,