code: def _open_server(self):
      log_path = path.join(
          self.experiment_path
          if self.experiment_path is not None
          else ".",
          "logs",
          "CARLA_LOG_{}.txt".format(self.port),
      )
      if not os.path.exists(os.path.dirname(log_path)):
          os.makedirs(os.path.dirname(log_path))
      with open(log_path, "wb") as out:
          cmd = [
              path.join(environ.get("CARLA_ROOT"), "CarlaUE4.sh"),
              self.map_path,
              "-benchmark",
              "-carla-server",
              "-fps={}".format(30 / self.frame_skip),
              "-world-port={}".format(self.port),
              "-windowed -ResX={} -ResY={}".format(
                  self.server_width, self.server_height
              ),
              "-carla-no-hud",
          ]
  
          if self.config:
              cmd.append("-carla-settings={}".format(self.config))
          p = subprocess.Popen(cmd, stdout=out, stderr=out)
  
      return p
  
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 4 for calling the CarlaEnvironment obj's underlying member method code with example usage: obj._open_server() and returns: p