train_pybullet_racecar.py works, self-driving car drives towards the ball using OpenAI baselines DQN :-)

See https://www.youtube.com/watch?v=DZ5Px-ocelw for video and how-to-install.

examples/pybullet/gym/enjoy_pybullet_racecar.py

@@ -6,7 +6,7 @@ from baselines import deepq
 
 def main():
     
-    env = RacecarGymEnv(render=True)
+    env = RacecarGymEnv(renders=True)
     act = deepq.load("racecar_model.pkl")
     print(act)
     while True:
@@ -16,27 +16,8 @@ def main():
         print(obs)
         episode_rew = 0
         while not done:
-            #env.render()
-
-            print("!!!!!!!!!!!!!!!!!!!!!!!!!!")
-            print("obs")
-            print(obs)
-            print("???????????????????????????")
-            print("obs[None]")
-            print(obs[None])
-            o = obs[None]
-            print("o")
-            print(o)
-            aa = act(o)
-            print("aa")
-            print (aa)
-            a = aa[0]
-            print("a")
-            print(a)
-            obs, rew, done, _ = env.step(a)
-            print("===================================")
-            print("obs")
-            print(obs)
+            env.render()
+            obs, rew, done, _ = env.step(act(obs[None])[0])
             episode_rew += rew
         print("Episode reward", episode_rew)