code: def restart(self):
      if self.external_actor:
          # Check whether there is already an actor with defined role name
          for actor in self.world.get_actors():
              if (
                  actor.attributes.get("role_name")
                  == self.actor_role_name
              ):
                  self.player = actor
                  break
      else:
          # Get a random blueprint.
          blueprint = random.choice(
              self.world.get_blueprint_library().filter(
                  self._actor_filter
              )
          )
          blueprint.set_attribute("role_name", self.actor_role_name)
          if blueprint.has_attribute("color"):
              color = random.choice(
                  blueprint.get_attribute("color").recommended_values
              )
              blueprint.set_attribute("color", color)
          if blueprint.has_attribute("driver_id"):
              driver_id = random.choice(
                  blueprint.get_attribute(
                      "driver_id"
                  ).recommended_values
              )
              blueprint.set_attribute("driver_id", driver_id)
          if blueprint.has_attribute("is_invincible"):
              blueprint.set_attribute("is_invincible", "true")
          # Spawn the player.
          if self.player is not None:
              spawn_point = self.player.get_transform()
              spawn_point.location.z += 2.0
              spawn_point.rotation.roll = 0.0
              spawn_point.rotation.pitch = 0.0
              self.destroy()
              self.player = self.world.try_spawn_actor(
                  blueprint, spawn_point
              )
          while self.player is None:
              if not self.map.get_spawn_points():
                  print(
                      "There are no spawn points available in your map/town."
                  )
                  print(
                      "Please add some Vehicle Spawn Point to your UE4 scene."
                  )
                  sys.exit(1)
              spawn_points = self.map.get_spawn_points()
              spawn_point = (
                  random.choice(spawn_points)
                  if spawn_points
                  else carla.Transform()
              )
              self.player = self.world.try_spawn_actor(
                  blueprint, spawn_point
              )
  
      if self.external_actor:
          ego_sensors = []
          for actor in self.world.get_actors():
              if actor.parent == self.player:
                  ego_sensors.append(actor)
  
          for ego_sensor in ego_sensors:
              if ego_sensor is not None:
                  ego_sensor.destroy()
  
      # Set up the sensors.
      self.camera = Camera(self.player, self.dim)
      self.rss_unstructured_scene_visualizer = (
          RssUnstructuredSceneVisualizer(
              self.player, self.world, self.dim
          )
      )
      self.rss_bounding_box_visualizer = RssBoundingBoxVisualizer(
          self.dim, self.world, self.camera.sensor
      )
      self.rss_sensor = RssSensor(
          self.player,
          self.world,
          self.rss_unstructured_scene_visualizer,
          self.rss_bounding_box_visualizer,
          self.hud.rss_state_visualizer,
      )
  
imports: from __future__ import print_function
  import glob
  import os
  import sys
  import signal
  import carla
  from carla import ColorConverter
  import argparse
  import logging
  import math
  import random
  import weakref
  from rss_sensor import RssSensor
  from rss_visualization import RssUnstructuredSceneVisualizer, RssBoundingBoxVisualizer, RssStateVisualizer
label_desc: Use image node_id 5 for calling the World obj's underlying member method code with example usage: obj.restart() without return types