fix metadrive after bump (#30967)

* fix clip

* wip

* oop

* 1.22

* ... ugly

* fix tuning

tools/sim/bridge/metadrive/metadrive_bridge.py

@@ -3,15 +3,13 @@ import numpy as np
 from metadrive.component.sensors.rgb_camera import RGBCamera
 from metadrive.component.sensors.base_camera import _cuda_enable
 from metadrive.component.map.pg_map import MapGenerateMethod
-from panda3d.core import Vec3, Texture, GraphicsOutput
+from panda3d.core import Texture, GraphicsOutput
 
 from openpilot.tools.sim.bridge.common import SimulatorBridge
 from openpilot.tools.sim.bridge.metadrive.metadrive_world import MetaDriveWorld
 from openpilot.tools.sim.lib.camerad import W, H
 
 
-C3_POSITION = Vec3(0.0, 1.0, 1.22)
-
 
 class CopyRamRGBCamera(RGBCamera):
   """Camera which copies its content into RAM during the render process, for faster image grabbing."""
@@ -33,8 +31,6 @@ class CopyRamRGBCamera(RGBCamera):
 class RGBCameraWide(CopyRamRGBCamera):
   def __init__(self, *args, **kwargs):
     super(RGBCameraWide, self).__init__(*args, **kwargs)
-    cam = self.get_cam()
-    cam.setPos(C3_POSITION)
     lens = self.get_lens()
     lens.setFov(120)
     lens.setNear(0.1)
@@ -42,8 +38,6 @@ class RGBCameraWide(CopyRamRGBCamera):
 class RGBCameraRoad(CopyRamRGBCamera):
   def __init__(self, *args, **kwargs):
     super(RGBCameraRoad, self).__init__(*args, **kwargs)
-    cam = self.get_cam()
-    cam.setPos(C3_POSITION)
     lens = self.get_lens()
     lens.setFov(40)
     lens.setNear(0.1)

tools/sim/bridge/metadrive/metadrive_process.py

@@ -2,6 +2,7 @@ import math
 import numpy as np
 
 from collections import namedtuple
+from panda3d.core import Vec3
 from multiprocessing.connection import Connection
 
 from metadrive.engine.core.engine_core import EngineCore
@@ -10,9 +11,13 @@ from metadrive.envs.metadrive_env import MetaDriveEnv
 from metadrive.obs.image_obs import ImageObservation
 
 from openpilot.common.realtime import Ratekeeper
+
 from openpilot.tools.sim.lib.common import vec3
 from openpilot.tools.sim.lib.camerad import W, H
 
+C3_POSITION = Vec3(0.0, 0, 1.22)
+C3_HPR = Vec3(0, 0,0)
+
 
 metadrive_state = namedtuple("metadrive_state", ["velocity", "position", "bearing", "steering_angle"])
 
@@ -58,14 +63,17 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
 
   def get_cam_as_rgb(cam):
     cam = env.engine.sensors[cam]
-    img = cam.perceive(env.vehicle, clip=False)
+    cam.get_cam().reparentTo(env.vehicle.origin)
+    cam.get_cam().setPos(C3_POSITION)
+    cam.get_cam().setHpr(C3_HPR)
+    img = cam.perceive(clip=False)
     if type(img) != np.ndarray:
       img = img.get() # convert cupy array to numpy
     return img
 
   rk = Ratekeeper(100, None)
 
-  steer_ratio = 15
+  steer_ratio = 8
   vc = [0,0]
 
   while not exit_event.is_set():