code: def spawn_actor(
      world: carla.World,
      blueprint: carla.ActorBlueprint,
      spawn_point: carla.Transform,
      attach_to: carla.Actor = None,
      attachment_type=carla.AttachmentType.Rigid,
  ) -> carla.Actor:
      """Tries to spawn an actor in a CARLA simulator.
      :param world: a carla.World instance.
      :param blueprint: specifies which actor has to be spawned.
      :param spawn_point: where to spawn the actor. A transform specifies the location and rotation.
      :param attach_to: whether the spawned actor has to be attached (linked) to another one.
      :param attachment_type: the kind of the attachment. Can be 'Rigid' or 'SpringArm'.
      :return: a carla.Actor instance.
      """
      actor = world.try_spawn_actor(
          blueprint, spawn_point, attach_to, attachment_type
      )
  
      if actor is None:
          raise ValueError(
              f"Cannot spawn actor. Try changing the spawn_point ({spawn_point}) to something else."
          )
  
      return actor
  
imports: import os
  import cv2
  import math
  import random
  import numpy
  import carla
  import pygame
  import threading
  import datetime
  from typing import Union
  from tensorforce.agents import Agent
label_desc: Use image node_id 10 for calling a global function with example usage: spawn_actor(world, blueprint, spawn_point, attach_to, attachment_type) and returns: actor