Simulator: update MetaDrive to latest (#32576)

* bump metadrive

* comment
old-commit-hash: aa081f574833bcb1db4c234b9ee3d5bcd303a6de

poetry.lock

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0e15c700ef7dd958815caaec9f2747c560fe1a77990275354bdfe2ff3ac38457
-size 613262
+oid sha256:849a4d16b80379689c29baf876cc4fb5f522e0c8ec29f9d3f8858755a60959b3
+size 613190

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 = "*"

tools/sim/bridge/metadrive/metadrive_process.py

@@ -88,7 +88,7 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
     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