def _get_actor_transform(self, actor_name):
        """
        Get the initial actor transform provided by the Init section

        Note: - The OpenScenario specification allows multiple definitions. We use the _first_ one
              - The OpenScenario specification allows different ways of specifying a position.
                We currently only support a specification with absolute world coordinates
        """

        actor_transform = carla.Transform()

        actor_found = False

        for private_action in self.init.iter("Private"):
            if private_action.attrib.get('object', None) == actor_name:
                if actor_found:
                    # pylint: disable=line-too-long
                    print(
                        "Warning: The actor '{}' was already assigned an initial position. Overwriting pose!"
                        .format(actor_name))
                    # pylint: enable=line-too-long
                actor_found = True
                for position in private_action.iter('Position'):
                    transform = OpenScenarioParser.convert_position_to_transform(
                        position)
                    if transform:
                        actor_transform = transform

        if not actor_found:
            print(
                "Warning: The actor '{}' was not assigned an initial position. Using (0,0,0)"
                .format(actor_name))

        return actor_transform
    def _get_actor_transform(self, actor_name):
        """
        Get the initial actor transform provided by the Init section

        Note: - The OpenScenario specification allows multiple definitions. We use the _first_ one
              - The OpenScenario specification allows different ways of specifying a position.
                We currently support the specification with absolute world coordinates and the relative positions
                RelativeWorld, RelativeObject and RelativeLane
              - When using relative positions the relevant reference point (e.g. transform of another actor)
                should be defined before!
        """

        actor_transform = carla.Transform()

        actor_found = False

        for private_action in self.init.iter("Private"):
            if private_action.attrib.get('entityRef', None) == actor_name:
                if actor_found:
                    # pylint: disable=line-too-long
                    self.logger.warning(
                        " Warning: The actor '%s' was already assigned an initial position. Overwriting pose!",
                        actor_name)
                    # pylint: enable=line-too-long
                actor_found = True
                for position in private_action.iter('Position'):
                    transform = OpenScenarioParser.convert_position_to_transform(
                        position,
                        actor_list=self.other_actors + self.ego_vehicles)
                    if transform:
                        actor_transform = transform

        if not actor_found:
            # pylint: disable=line-too-long
            self.logger.warning(
                " Warning: The actor '%s' was not assigned an initial position. Using (0,0,0)",
                actor_name)
            # pylint: enable=line-too-long

        return actor_transform