def reset(self):
        """
        Rebuild the map and load it into the scene
        """
        if not self.current_map:
            self.current_map = ScenarioMap(map_index=0, map_data=self.map_feature, need_lane_localization=True)
        self.current_map.attach_to_world()

        Rebuild the map and load it into the scene
        
metadrive/manager/sumo_map_manager.py