From aa081f574833bcb1db4c234b9ee3d5bcd303a6de Mon Sep 17 00:00:00 2001
From: Hoang Bui <47828508+bongbui321@users.noreply.github.com>
Date: Thu, 30 May 2024 14:25:21 -0400
Subject: [PATCH] Simulator: update MetaDrive to latest (#32576)

* bump metadrive

* comment
---
 poetry.lock                                   | 20 +++++++++++--------
 pyproject.toml                                |  3 ++-
 .../sim/bridge/metadrive/metadrive_process.py |  2 +-
 3 files changed, 15 insertions(+), 10 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index 01ec394f22d392..23b2eb7b8aefac 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.7.0 and should not be changed by hand.
 
 [[package]]
 name = "aiohttp"
@@ -2247,18 +2247,16 @@ version = "0.4.2.3"
 description = "An open-ended driving simulator with infinite scenes"
 optional = false
 python-versions = ">=3.6, <3.12"
-files = [
-    {file = "metadrive-simulator-0.4.2.3.tar.gz", hash = "sha256:bcda7d07146128161b0bc2cc337e01612b9222202706370043b52f7936a8a277"},
-    {file = "metadrive_simulator-0.4.2.3-py3-none-any.whl", hash = "sha256:f6fff20b931bb956c55e0e81bf1f6b641169a84a4c853435a8b26bd51c8e9876"},
-]
+files = []
+develop = false
 
 [package.dependencies]
 filelock = "*"
 geopandas = "*"
-gymnasium = ">=0.28,<0.29"
+gymnasium = ">=0.28"
 lxml = "*"
 matplotlib = "*"
-numpy = ">=1.21.6,<=1.24.2"
+numpy = ">=1.21.6"
 opencv-python = "*"
 panda3d = "1.10.13"
 panda3d-gltf = "0.13"
@@ -2281,6 +2279,12 @@ cuda = ["PyOpenGL (==3.1.6)", "PyOpenGL-accelerate (==3.1.6)", "cuda-python (==1
 gym = ["gym (>=0.19.0,<=0.26.0)"]
 ros = ["zmq"]
 
+[package.source]
+type = "git"
+url = "https://github.com/metadriverse/metadrive.git"
+reference = "233a3a1698be7038ec3dd050ca10b547b4b3324c"
+resolved_reference = "233a3a1698be7038ec3dd050ca10b547b4b3324c"
+
 [[package]]
 name = "mouseinfo"
 version = "0.1.3"
@@ -8037,4 +8041,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "1b15d2bb9465282294cd503c019a7d023f16dbb3e44ddde7b9899c45195c6cb8"
+content-hash = "ac6ceb0682848e6c5e39110842e8d96fdc98b15037c56491a7fc1e03b7b89cbd"
diff --git a/pyproject.toml b/pyproject.toml
index da7f1021e68677..d7145b10a9ced7 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -140,7 +140,8 @@ inputs = "*"
 Jinja2 = "*"
 lru-dict = "*"
 matplotlib = "*"
-metadrive-simulator = { version = "0.4.2.3", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
+# No release for this fix https://github.com/metadriverse/metadrive/issues/632. Pinned to this commit until next release
+metadrive-simulator = {git = "https://github.com/metadriverse/metadrive.git", rev ="233a3a1698be7038ec3dd050ca10b547b4b3324c", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
 mypy = "*"
 myst-parser = "*"
diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py
index 2b9203c30ddef5..38c13a14345b77 100644
--- a/tools/sim/bridge/metadrive/metadrive_process.py
+++ b/tools/sim/bridge/metadrive/metadrive_process.py
@@ -88,7 +88,7 @@ def get_cam_as_rgb(cam):
     cam.get_cam().reparentTo(env.vehicle.origin)
     cam.get_cam().setPos(C3_POSITION)
     cam.get_cam().setHpr(C3_HPR)
-    img = cam.perceive(clip=False)
+    img = cam.perceive(to_float=False)
     if type(img) != np.ndarray:
       img = img.get() # convert cupy array to numpy
     return img