code: def get_trafficlight_trigger_location(traffic_light):
      """
      Calculates the yaw of the waypoint that represents the trigger volume of the traffic light
      """
  
      def rotate_point(point, radians):
          """
          rotate a given point by a given angle
          """
          rotated_x = (
              math.cos(radians) * point.x - math.sin(radians) * point.y
          )
          rotated_y = (
              math.sin(radians) * point.x - math.cos(radians) * point.y
          )
  
          return carla.Vector3D(rotated_x, rotated_y, point.z)
  
      base_transform = traffic_light.get_transform()
      base_rot = base_transform.rotation.yaw
      area_loc = base_transform.transform(
          traffic_light.trigger_volume.location
      )
      area_ext = traffic_light.trigger_volume.extent
  
      point = rotate_point(
          carla.Vector3D(0, 0, area_ext.z), math.radians(base_rot)
      )
      point_location = area_loc + carla.Location(x=point.x, y=point.y)
  
      return carla.Location(
          point_location.x, point_location.y, point_location.z
      )
  
file_path: carla/PythonAPI/carla/agents/tools/misc.py
imports: import math
  import numpy
  import carla
label_desc: Use image node_id 3 for calling a global function with example usage: get_trafficlight_trigger_location(traffic_light) and returns: carla, carla