def reset_sensors(self):
        """
        This is the developer API. Overriding it determines how to place sensors in the scene. You can mount it on an
        object or fix it at a given position for the whole episode.
        """
        # reset the cam at the start at the episode.
        if self.main_camera is not None:
            self.main_camera.reset()
            if hasattr(self, "agent_manager"):
                bev_cam = self.main_camera.is_bird_view_camera() and self.main_camera.current_track_agent is not None
                agents = list(self.engine.agents.values())
                current_track_agent = agents[0]
                self.main_camera.set_follow_lane(self.config["use_chase_camera_follow_lane"])
                self.main_camera.track(current_track_agent)
                if bev_cam:
                    self.main_camera.stop_track()
                    self.main_camera.set_bird_view_pos_hpr(current_track_agent.position)
                for name, sensor in self.engine.sensors.items():
                    if hasattr(sensor, "track") and name != "main_camera":
                        sensor.track(current_track_agent.origin, DEFAULT_SENSOR_OFFSET, DEFAULT_SENSOR_HPR)
        # Step the env to avoid the black screen in the first frame.
        self.engine.taskMgr.step()

        This is the developer API. Overriding it determines how to place sensors in the scene. You can mount it on an
        object or fix it at a given position for the whole episode.
        
metadrive/envs/base_env.py