def _setup_effect(self):
        """
        Use tag to apply color to different object class
        Returns: None

        """
        # setup camera
        cam = self.get_cam().node()
        cam.setTagStateKey(CameraTagStateKey.Semantic)
        for t in [v for v, m in vars(Semantics).items() if not (v.startswith('_') or callable(m))]:
            label, c = getattr(Semantics, t)
            if label == Semantics.TERRAIN.label:
                from metadrive.engine.core.terrain import Terrain
                cam.setTagState(
                    label, Terrain.make_render_state(self.engine, "terrain.vert.glsl", "terrain_semantics.frag.glsl")
                )
            else:

                if label == Semantics.PEDESTRIAN.label and not self.engine.global_config.get("use_bounding_box", False):
                    # rendering pedestrian with glasses, shoes, etc. [Synbody]
                    base_color = LColor(c[0] / 255, c[1] / 255, c[2] / 255, 1)
                    material = Material()
                    material.setDiffuse((base_color[0], base_color[1], base_color[2], 1))
                    material.setSpecular((0, 0, 0, 1))
                    material.setShininess(0)

                    cam.setTagState(
                        label,
                        RenderState.make(
                            # ShaderAttrib.makeOff(),
                            LightAttrib.makeAllOff(),
                            TextureAttrib.makeOff(),
                            MaterialAttrib.make(material),
                            ColorAttrib.makeFlat((c[0] / 255, c[1] / 255, c[2] / 255, 1)),
                            1
                        )
                    )

                else:
                    cam.setTagState(
                        label,
                        RenderState.make(
                            ShaderAttrib.makeOff(), LightAttrib.makeAllOff(), TextureAttrib.makeOff(),
                            ColorAttrib.makeFlat((c[0] / 255, c[1] / 255, c[2] / 255, 1)), 1
                        )
                    )

        Use tag to apply color to different object class
        Returns: None

        
metadrive/component/sensors/semantic_camera.py