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/racecarGymEnvTest.py

@@ -9,6 +9,22 @@ steeringSlider = environment._p.addUserDebugParameter("steering",-0.5,0.5,0)
 while (True):
   targetVelocity = environment._p.readUserDebugParameter(targetVelocitySlider)
   steeringAngle = environment._p.readUserDebugParameter(steeringSlider)
-	
-  action=[targetVelocity,steeringAngle]
+  discreteAction = 0
+  if (targetVelocity<-0.33):
+    discreteAction=0
+  else:
+    if (targetVelocity>0.33):
+      discreteAction=6
+    else:
+      discreteAction=3
+  if (steeringAngle>-0.17):
+    if (steeringAngle>0.17):
+      discreteAction=discreteAction+2
+    else:
+      discreteAction=discreteAction+1
+    
+  action=discreteAction
   state, reward, done, info = environment.step(action)
+  obs = environment.getExtendedObservation()
+  print("obs")
+  print(obs)