last workig state.

mathema/scape/car_racing.py

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+import numpy as np
+import logging
+from mathema.actors.actor import Actor
+
+log = logging.getLogger(__name__)
+
+
+class CarRacingScape(Actor):
+    def __init__(self, env, name: str = "CarRacingScape"):
+        super().__init__(name)
+        self.env = env
+        self._stepped = False
+
+    def _get_features(self) -> list[float]:
+        if not self._stepped:
+            _, _, term, trunc, _ = self.env.step(np.array([0.0, 0.0, 0.0], dtype=np.float32))
+            self._stepped = True
+        return self.env.get_feature_vector()
+
+    async def run(self):
+        while True:
+            msg = await self.inbox.get()
+            tag = msg[0]
+
+            if tag == "sense":
+                _, sid, sensor_pid = msg
+                vec = self._get_features()
+                await sensor_pid.send(("percept", vec))
+
+            elif tag == "action":
+                _, action, actuator_pid = msg
+                _, step_reward, terminated, truncated, _ = self.env.step(np.asarray(action, dtype=np.float32))
+                self._stepped = True
+
+                halt_flag = 1 if (terminated or truncated) else 0
+                await actuator_pid.send(("result", float(step_reward), halt_flag))
+
+                if halt_flag == 1:
+                    self.env.fast_reset()
+                    self._stepped = False
+
+            elif tag == "terminate":
+                try:
+                    self.env.close()
+                except Exception:
+                    pass
+