From 71f11a06429c9f5e3eff4f0a28e491024e48147c Mon Sep 17 00:00:00 2001
From: Antonin RAFFIN <antonin.raffin@ensta.org>
Date: Wed, 15 Jun 2022 15:34:42 +0200
Subject: [PATCH] Fix CarRacing termination (#2890)

---
 gym/envs/box2d/car_racing.py | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/gym/envs/box2d/car_racing.py b/gym/envs/box2d/car_racing.py
index 9e1a38510..1537c5a36 100644
--- a/gym/envs/box2d/car_racing.py
+++ b/gym/envs/box2d/car_racing.py
@@ -88,7 +88,7 @@ def _contact(self, contact, begin):
                     and self.env.tile_visited_count / len(self.env.track)
                     > self.lap_complete_percent
                 ):
-                    self.env_new_lap = True
+                    self.env.new_lap = True
         else:
             obj.tiles.remove(tile)
 
@@ -484,6 +484,7 @@ def step(self, action: Union[np.ndarray, int]):
 
         step_reward = 0
         done = False
+        info = {}
         if action is not None:  # First step without action, called from reset()
             self.reward -= 0.1
             # We actually don't want to count fuel spent, we want car to be faster.
@@ -493,13 +494,17 @@ def step(self, action: Union[np.ndarray, int]):
             self.prev_reward = self.reward
             if self.tile_visited_count == len(self.track) or self.new_lap:
                 done = True
+                # Termination due to finishing lap
+                # This should not be treated as a failure
+                # but like a timeout
+                info["TimeLimit.truncated"] = True
             x, y = self.car.hull.position
             if abs(x) > PLAYFIELD or abs(y) > PLAYFIELD:
                 done = True
                 step_reward = -100
 
         self.renderer.render_step()
-        return self.state, step_reward, done, {}
+        return self.state, step_reward, done, info
 
     def render(self, mode: str = "human"):
         if self.render_mode is not None: