How to use the carla.WalkerControl function in carla

'Speed:   % 15.0f km/h' % (3.6 * math.sqrt(v.x**2 + v.y**2 + v.z**2)),
            u'Heading:% 16.0f\N{DEGREE SIGN} % 2s' % (t.rotation.yaw, heading),
            'Location:% 20s' % ('(% 5.1f, % 5.1f)' % (t.location.x, t.location.y)),
            'GNSS:% 24s' % ('(% 2.6f, % 3.6f)' % (world.gnss_sensor.lat, world.gnss_sensor.lon)),
            'Height:  % 18.0f m' % t.location.z,
            '']
        if isinstance(c, carla.VehicleControl):
            self._info_text += [
                ('Throttle:', c.throttle, 0.0, 1.0),
                ('Steer:', c.steer, -1.0, 1.0),
                ('Brake:', c.brake, 0.0, 1.0),
                ('Reverse:', c.reverse),
                ('Hand brake:', c.hand_brake),
                ('Manual:', c.manual_gear_shift),
                'Gear:        %s' % {-1: 'R', 0: 'N'}.get(c.gear, c.gear)]
        elif isinstance(c, carla.WalkerControl):
            self._info_text += [
                ('Speed:', c.speed, 0.0, 5.556),
                ('Jump:', c.jump)]
        self._info_text += [
            '',
            'Collision:',
            collision,
            '',
            'Number of vehicles: % 8d' % len(vehicles)]
        if len(vehicles) > 1:
            self._info_text += ['Nearby vehicles:']
            distance = lambda l: math.sqrt((l.x - t.location.x)**2 + (l.y - t.location.y)**2 + (l.z - t.location.z)**2)
            vehicles = [(distance(x.get_location()), x) for x in vehicles if x.id != world.player.id]
            for d, vehicle in sorted(vehicles):
                if d > 200.0:
                    break

# cur_map, cur_location, dst_location)
            # the point with z = 0, and the default z of cars are 40
            # next_point_transform.location.z = 40
            # self.actor_list[i].set_transform(next_point_transform)

            agent_type = config.get("type", "vehicle")
            # TODO: Add proper support for pedestrian actor according to action
            # space of ped actors
            if agent_type == "pedestrian":
                rotation = self._actors[actor_id].get_transform().rotation
                rotation.yaw += steer * 10.0
                x_dir = math.cos(math.radians(rotation.yaw))
                y_dir = math.sin(math.radians(rotation.yaw))

                self._actors[actor_id].apply_control(
                    carla.WalkerControl(
                        speed=3.0 * throttle,
                        direction=carla.Vector3D(x_dir, y_dir, 0.0),
                    ))

            # TODO: Change this if different vehicle types (Eg.:vehicle_4W,
            #  vehicle_2W, etc) have different control APIs
            elif "vehicle" in agent_type:
                self._actors[actor_id].apply_control(
                    carla.VehicleControl(
                        throttle=throttle,
                        steer=steer,
                        brake=brake,
                        hand_brake=hand_brake,
                        reverse=reverse,
                    ))
        # Asynchronosly (one actor at a time; not all at once in a sync) apply

restricted_control = self.restricted_vehicle_control
                self._info_text += [
                    ('Throttle:', orig_control.throttle, 0.0, 1.0, restricted_control.throttle),
                    ('Steer:', orig_control.steer, -1.0, 1.0, restricted_control.steer),
                    ('Brake:', orig_control.brake, 0.0, 1.0, restricted_control.brake)]
            else:
                self._info_text += [
                    ('Throttle:', c.throttle, 0.0, 1.0),
                    ('Steer:', c.steer, -1.0, 1.0),
                    ('Brake:', c.brake, 0.0, 1.0)]
            self._info_text += [
                ('Reverse:', c.reverse),
                ('Hand brake:', c.hand_brake),
                ('Manual:', c.manual_gear_shift),
                'Gear:        %s' % {-1: 'R', 0: 'N'}.get(c.gear, c.gear)]
        elif isinstance(c, carla.WalkerControl):
            self._info_text += [
                ('Speed:', c.speed, 0.0, 5.556),
                ('Jump:', c.jump)]
        self._info_text += [
            '',
            'Collision:',
            collision,
            '',
            'Number of vehicles: % 8d' % len(vehicles)]
        if len(vehicles) > 1:
            self._info_text += ['Nearby vehicles:']
            distance = lambda l: math.sqrt((l.x - t.location.x)**2 + (l.y - t.location.y)**2 + (l.z - t.location.z)**2)
            vehicles = [(distance(x.get_location()), x) for x in vehicles if x.id != world.player.id]
            for d, vehicle in sorted(vehicles):
                if d > 200.0:
                    break

def __init__(self, world, start_in_autopilot):
        self._autopilot_enabled = start_in_autopilot
        if isinstance(world.player, carla.Vehicle):
            self._control = carla.VehicleControl()
            self._lights = carla.VehicleLightState.NONE
            # world.player.set_autopilot(self._autopilot_enabled)
            world.player.set_light_state(self._lights)
        elif isinstance(world.player, carla.Walker):
            self._control = carla.WalkerControl()
            self._autopilot_enabled = False
            self._rotation = world.player.get_transform().rotation
        else:
            raise NotImplementedError("Actor type not supported")
        self._steer_cache = 0.0
        world.hud.notification("Press 'H' or '?' for help.", seconds=4.0)

'Speed:   % 15.0f km/h' % (3.6 * math.sqrt(v.x ** 2 + v.y ** 2 + v.z ** 2)),
            u'Heading:% 16.0f\N{DEGREE SIGN} % 2s' % (t.rotation.yaw, heading),
            'Location:% 20s' % ('(% 5.1f, % 5.1f)' % (t.location.x, t.location.y)),
            'GNSS:% 24s' % ('(% 2.6f, % 3.6f)' % (world.gnss_sensor.lat, world.gnss_sensor.lon)),
            'Height:  % 18.0f m' % t.location.z,
            '']
        if isinstance(c, carla.VehicleControl):
            self._info_text += [
                ('Throttle:', c.throttle, 0.0, 1.0),
                ('Steer:', c.steer, -1.0, 1.0),
                ('Brake:', c.brake, 0.0, 1.0),
                ('Reverse:', c.reverse),
                ('Hand brake:', c.hand_brake),
                ('Manual:', c.manual_gear_shift),
                'Gear:        %s' % {-1: 'R', 0: 'N'}.get(c.gear, c.gear)]
        elif isinstance(c, carla.WalkerControl):
            self._info_text += [
                ('Speed:', c.speed, 0.0, 5.556),
                ('Jump:', c.jump)]
        self._info_text += [
            '',
            'Collision:',
            collision,
            '',
            'Number of vehicles: % 8d' % len(vehicles)]
        if len(vehicles) > 1:
            self._info_text += ['Nearby vehicles:']

            def distance(l): return math.sqrt(
                (l.x - t.location.x) ** 2 + (l.y - t.location.y) ** 2 + (l.z - t.location.z) ** 2)
            vehicles = [(distance(x.get_location()), x) for x in vehicles if x.id != world.player.id]
            for d, vehicle in sorted(vehicles):

def __init__(self, world, start_in_autopilot):
        self._autopilot_enabled = start_in_autopilot
        if isinstance(world.player, carla.Vehicle):
            self._control = carla.VehicleControl()
            world.player.set_autopilot(self._autopilot_enabled)
        elif isinstance(world.player, carla.Walker):
            self._control = carla.WalkerControl()
            self._autopilot_enabled = False
            self._rotation = world.player.get_transform().rotation
        else:
            raise NotImplementedError("Actor type not supported")
        self._steer_cache = 0.0
        world.hud.notification("Press 'H' or '?' for help.", seconds=4.0)

self._control.gear = world.player.get_control().gear
                        world.hud.notification('%s Transmission' %
                                               ('Manual' if self._control.manual_gear_shift else 'Automatic'))
                    elif self._control.manual_gear_shift and event.key == K_COMMA:
                        self._control.gear = max(-1, self._control.gear - 1)
                    elif self._control.manual_gear_shift and event.key == K_PERIOD:
                        self._control.gear = self._control.gear + 1
                    elif event.key == K_p and not (pygame.key.get_mods() & KMOD_CTRL):
                        self._autopilot_enabled = not self._autopilot_enabled
                        world.player.set_autopilot(self._autopilot_enabled)
                        world.hud.notification('Autopilot %s' % ('On' if self._autopilot_enabled else 'Off'))
        if not self._autopilot_enabled:
            if isinstance(self._control, carla.VehicleControl):
                self._parse_vehicle_keys(pygame.key.get_pressed(), clock.get_time())
                self._control.reverse = self._control.gear < 0
            elif isinstance(self._control, carla.WalkerControl):
                self._parse_walker_keys(pygame.key.get_pressed(), clock.get_time())
            world.player.apply_control(self._control)

'Accelero: (%5.1f,%5.1f,%5.1f)' % (world.imu_sensor.accelerometer),
            'Gyroscop: (%5.1f,%5.1f,%5.1f)' % (world.imu_sensor.gyroscope),
            'Location:% 20s' % ('(% 5.1f, % 5.1f)' % (t.location.x, t.location.y)),
            'GNSS:% 24s' % ('(% 2.6f, % 3.6f)' % (world.gnss_sensor.lat, world.gnss_sensor.lon)),
            'Height:  % 18.0f m' % t.location.z,
            '']
        if isinstance(c, carla.VehicleControl):
            self._info_text += [
                ('Throttle:', c.throttle, 0.0, 1.0),
                ('Steer:', c.steer, -1.0, 1.0),
                ('Brake:', c.brake, 0.0, 1.0),
                ('Reverse:', c.reverse),
                ('Hand brake:', c.hand_brake),
                ('Manual:', c.manual_gear_shift),
                'Gear:        %s' % {-1: 'R', 0: 'N'}.get(c.gear, c.gear)]
        elif isinstance(c, carla.WalkerControl):
            self._info_text += [
                ('Speed:', c.speed, 0.0, 5.556),
                ('Jump:', c.jump)]
        self._info_text += [
            '',
            'Collision:',
            collision,
            '',
            'Number of vehicles: % 8d' % len(vehicles)]
        if len(vehicles) > 1:
            self._info_text += ['Nearby vehicles:']
            distance = lambda l: math.sqrt((l.x - t.location.x)**2 + (l.y - t.location.y)**2 + (l.z - t.location.z)**2)
            vehicles = [(distance(x.get_location()), x) for x in vehicles if x.id != world.player.id]
            for d, vehicle in sorted(vehicles):
                if d > 200.0:
                    break