CARLA_0.9.6/PythonAPI/carla/agents/navigation/carla_env.py [241:278]:
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        self.num_cameras = num_cameras

        self.actor_list = []

        if self.render_display:
            pygame.init()
            self.display = pygame.display.set_mode((800, 600), pygame.HWSURFACE | pygame.DOUBLEBUF)
            self.font = get_font()
            self.clock = pygame.time.Clock()

        self.client = carla.Client('localhost', port)
        self.client.set_timeout(5.0)

        self.world = self.client.load_world("Town04")
        self.map = self.world.get_map()
        assert self.map.name == "Town04"

        # remove old vehicles and sensors (in case they survived)
        self.world.tick()
        actor_list = self.world.get_actors()
        for vehicle in actor_list.filter("*vehicle*"):
            # if vehicle.id != self.vehicle.id:
            print("Warning: removing old vehicle")
            vehicle.destroy()
        for sensor in actor_list.filter("*sensor*"):
            print("Warning: removing old sensor")
            sensor.destroy()

        self.vehicle = None
        self.vehicle_start_pose = None
        self.vehicles_list = []  # their ids
        self.vehicles = None
        self.reset_vehicle()  # creates self.vehicle
        self.actor_list.append(self.vehicle)

        blueprint_library = self.world.get_blueprint_library()

        if render_display:
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CARLA_0.9.8/PythonAPI/carla/agents/navigation/carla_env.py [238:273]:
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        self.num_cameras = num_cameras

        self.actor_list = []

        if self.render_display:
            pygame.init()
            self.display = pygame.display.set_mode((800, 600), pygame.HWSURFACE | pygame.DOUBLEBUF)
            self.font = get_font()
            self.clock = pygame.time.Clock()

        self.client = carla.Client('localhost', port)
        self.client.set_timeout(5.0)
        self.world = self.client.load_world("Town04")
        self.map = self.world.get_map()
        assert self.map.name == "Town04"

        # remove old vehicles and sensors (in case they survived)
        self.world.tick()
        actor_list = self.world.get_actors()
        for vehicle in actor_list.filter("*vehicle*"):
            print("Warning: removing old vehicle")
            vehicle.destroy()
        for sensor in actor_list.filter("*sensor*"):
            print("Warning: removing old sensor")
            sensor.destroy()

        self.vehicle = None
        self.vehicle_start_pose = None
        self.vehicles_list = []  # their ids
        self.vehicles = None
        self.reset_vehicle()  # creates self.vehicle
        self.actor_list.append(self.vehicle)

        blueprint_library = self.world.get_blueprint_library()

        if render_display:
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