code: def _take_action(self, action):
      self.control = VehicleControl()
  
      if self.separate_actions_for_throttle_and_brake:
          self.control.steer = np.clip(action[0], -1, 1)
          self.control.throttle = np.clip(action[1], 0, 1)
          self.control.brake = np.clip(action[2], 0, 1)
      else:
          # transform the 2 value action (steer, throttle - brake) into a 3 value action (steer, throttle, brake)
          self.control.steer = np.clip(action[0], -1, 1)
          self.control.throttle = np.clip(action[1], 0, 1)
          self.control.brake = np.abs(np.clip(action[1], -1, 0))
  
      # prevent braking
      if (
          not self.allow_braking
          or self.control.brake < 0.1
          or self.control.throttle > self.control.brake
      ):
          self.control.brake = 0
  
      # prevent over speeding
      if (
          hasattr(self, "measurements")
          and self.measurements[0] * 3.6 > self.max_speed
          and self.control.brake == 0
      ):
          self.control.throttle = 0.0
  
      self.control.hand_brake = False
      self.control.reverse = False
  
      self.game.send_control(self.control)
  
imports: import random
  import sys
  from os import path, environ
  from rl_coach.logger import screen
  from rl_coach.filters.action.partial_discrete_action_space_map import PartialDiscreteActionSpaceMap
  from rl_coach.filters.observation.observation_rgb_to_y_filter import ObservationRGBToYFilter
  from rl_coach.filters.observation.observation_to_uint8_filter import ObservationToUInt8Filter
  import os
  import signal
  import logging
  import subprocess
  import numpy
  from rl_coach.environments.environment import Environment, EnvironmentParameters, LevelSelection
  from rl_coach.spaces import BoxActionSpace, ImageObservationSpace, StateSpace, VectorObservationSpace
  from rl_coach.utils import get_open_port, force_list
  from enum import Enum
  from typing import List, Union
  from rl_coach.base_parameters import VisualizationParameters
  from rl_coach.filters.filter import InputFilter, NoOutputFilter
  from rl_coach.filters.observation.observation_rescale_to_size_filter import ObservationRescaleToSizeFilter
  from rl_coach.filters.observation.observation_stacking_filter import ObservationStackingFilter
label_desc: Use image node_id 7 for calling the CarlaEnvironment obj's underlying member method code with example usage: obj._take_action(action) without return types