CARLA_0.9.6/PythonAPI/carla/agents/navigation/carla_env.py [486:542]:
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    def compute_steer_action(self):
        control = self.agent.run_step()  # PID decides control.steer
        steer = control.steer
        throttle = control.throttle
        brake = control.brake
        throttle_brake = -brake
        if throttle > 0.:
            throttle_brake = throttle
        steer_action = np.array([steer, throttle_brake], dtype=np.float32)
        return steer_action

    def step(self, action):
        rewards = []
        for _ in range(self.frame_skip):  # default 1
            next_obs, reward, done, info = self._simulator_step(action)
            rewards.append(reward)
            if done:
                break
        return next_obs, np.mean(rewards), done, info  # just last info?

    def _simulator_step(self, action, dt=0.05):

        if self.render_display:
            if should_quit():
                return
            self.clock.tick()

        if action is not None:
            steer = float(action[0])
            throttle_brake = float(action[1])
            if throttle_brake >= 0.0:
                throttle = throttle_brake
                brake = 0.0
            else:
                throttle = 0.0
                brake = -throttle_brake

            assert 0.0 <= throttle <= 1.0
            assert -1.0 <= steer <= 1.0
            assert 0.0 <= brake <= 1.0
            vehicle_control = carla.VehicleControl(
                throttle=throttle,
                steer=steer,
                brake=brake,
                hand_brake=False,
                reverse=False,
                manual_gear_shift=False
            )
            self.vehicle.apply_control(vehicle_control)
        else:
            throttle, steer, brake = 0., 0., 0.

        # Advance the simulation and wait for the data.
        if self.render_display:
            snapshot, image_rgb, image_rl, image_rl_left, image_rl_lefter, image_rl_right, image_rl_righter = self.sync_mode.tick(timeout=2.0)
        else:
            snapshot, image_rl, image_rl_left, image_rl_lefter, image_rl_right, image_rl_righter = self.sync_mode.tick(timeout=2.0)
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CARLA_0.9.8/PythonAPI/carla/agents/navigation/carla_env.py [483:539]:
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    def compute_steer_action(self):
        control = self.agent.run_step()  # PID decides control.steer
        steer = control.steer
        throttle = control.throttle
        brake = control.brake
        throttle_brake = -brake
        if throttle > 0.:
            throttle_brake = throttle
        steer_action = np.array([steer, throttle_brake], dtype=np.float32)
        return steer_action

    def step(self, action):
        rewards = []
        for _ in range(self.frame_skip):  # default 1
            next_obs, reward, done, info = self._simulator_step(action)
            rewards.append(reward)
            if done:
                break
        return next_obs, np.mean(rewards), done, info  # just last info?

    def _simulator_step(self, action, dt=0.05):

        if self.render_display:
            if should_quit():
                return
            self.clock.tick()

        if action is not None:
            steer = float(action[0])
            throttle_brake = float(action[1])
            if throttle_brake >= 0.0:
                throttle = throttle_brake
                brake = 0.0
            else:
                throttle = 0.0
                brake = -throttle_brake

            assert 0.0 <= throttle <= 1.0
            assert -1.0 <= steer <= 1.0
            assert 0.0 <= brake <= 1.0
            vehicle_control = carla.VehicleControl(
                throttle=throttle,
                steer=steer,
                brake=brake,
                hand_brake=False,
                reverse=False,
                manual_gear_shift=False
            )
            self.vehicle.apply_control(vehicle_control)
        else:
            throttle, steer, brake = 0., 0., 0.

        # Advance the simulation and wait for the data.
        if self.render_display:
            snapshot, image_rgb, image_rl, image_rl_left, image_rl_lefter, image_rl_right, image_rl_righter = self.sync_mode.tick(timeout=2.0)
        else:
            snapshot, image_rl, image_rl_left, image_rl_lefter, image_rl_right, image_rl_righter = self.sync_mode.tick(timeout=2.0)
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