class_docstr: ### Description
  The easiest control task to learn from pixels - a top-down
  racing environment. The generated track is random every episode.
  
  Some indicators are shown at the bottom of the window along with the
  state RGB buffer. From left to right: true speed, four ABS sensors,
  steering wheel position, and gyroscope.
  To play yourself (it's rather fast for humans), type:
  ```
  python gym/envs/box2d/car_racing.py
  ```
  Remember: it's a powerful rear-wheel drive car - don't press the accelerator
  and turn at the same time.
  
  ### Action Space
  If continuous:
      There are 3 actions: steering (-1 is full left, +1 is full right), gas, and breaking.
  If discrete:
      There are 5 actions: do nothing, steer left, steer right, gas, brake.
  
  ### Observation Space
  State consists of 96x96 pixels.
  
  ### Rewards
  The reward is -0.1 every frame and +1000/N for every track tile visited,
  where N is the total number of tiles visited in the track. For example,
  if you have finished in 732 frames, your reward is
  1000 - 0.1*732 = 926.8 points.
  
  ### Starting State
  The car starts at rest in the center of the road.
  
  ### Episode Termination
  The episode finishes when all of the tiles are visited. The car can also go
  outside of the playfield - that is, far off the track, in which case it will
  receive -100 reward and die.
  
  ### Arguments
  `lap_complete_percent` dictates the percentage of tiles that must be visited by
  the agent before a lap is considered complete.
  
  Passing `domain_randomize=True` enables the domain randomized variant of the environment.
  In this scenario, the background and track colours are different on every reset.
  
  Passing `continuous=False` converts the environment to use discrete action space.
  The discrete action space has 5 actions: [do nothing, left, right, gas, brake].
  
  ### Reset Arguments
  Passing the option `options["randomize"] = True` will change the current colour of the environment on demand.
  Correspondingly, passing the option `options["randomize"] = False` will not change the current colour of the environment.
  `domain_randomize` must be `True` on init for this argument to work.
  Example usage:
  ```py
      env = gym.make("CarRacing-v1", domain_randomize=True)
  
      # normal reset, this changes the colour scheme by default
      env.reset()
  
      # reset with colour scheme change
      env.reset(options={"randomize": True})
  
      # reset with no colour scheme change
      env.reset(options={"randomize": False})
  ```
  
  ### Version History
  - v1: Change track completion logic and add domain randomization (0.24.0)
  - v0: Original version
  
  ### References
  - Chris Campbell (2014), http://www.iforce2d.net/b2dtut/top-down-car.
  
  ### Credits
  Created by Oleg Klimov
code: def _render(self, mode: str):
      assert mode in self.metadata["render_modes"]
  
      pygame.font.init()
      if self.screen is None and mode == "human":
          pygame.init()
          pygame.display.init()
          self.screen = pygame.display.set_mode((WINDOW_W, WINDOW_H))
      if self.clock is None:
          self.clock = pygame.time.Clock()
  
      if "t" not in self.__dict__:
          return  # reset() not called yet
  
      self.surf = pygame.Surface((WINDOW_W, WINDOW_H))
  
      assert self.car is not None
      # computing transformations
      angle = -self.car.hull.angle
      # Animating first second zoom.
      zoom = 0.1 * SCALE * max(1 - self.t, 0) + ZOOM * SCALE * min(
          self.t, 1
      )
      scroll_x = -(self.car.hull.position[0]) * zoom
      scroll_y = -(self.car.hull.position[1]) * zoom
      trans = pygame.math.Vector2((scroll_x, scroll_y)).rotate_rad(
          angle
      )
      trans = (WINDOW_W / 2 + trans[0], WINDOW_H / 4 + trans[1])
  
      self._render_road(zoom, trans, angle)
      self.car.draw(
          self.surf,
          zoom,
          trans,
          angle,
          mode not in ["state_pixels_list", "state_pixels"],
      )
  
      self.surf = pygame.transform.flip(self.surf, False, True)
  
      # showing stats
      self._render_indicators(WINDOW_W, WINDOW_H)
  
      font = pygame.font.Font(pygame.font.get_default_font(), 42)
      text = font.render(
          "%04i" % self.reward, True, (255, 255, 255), (0, 0, 0)
      )
      text_rect = text.get_rect()
      text_rect.center = (60, WINDOW_H - WINDOW_H * 2.5 / 40.0)
      self.surf.blit(text, text_rect)
  
      if mode == "human":
          pygame.event.pump()
          self.clock.tick(self.metadata["render_fps"])
          assert self.screen is not None
          self.screen.fill(0)
          self.screen.blit(self.surf, (0, 0))
          pygame.display.flip()
  
      if mode == "rgb_array":
          return self._create_image_array(self.surf, (VIDEO_W, VIDEO_H))
      elif mode == "state_pixels":
          return self._create_image_array(self.surf, (STATE_W, STATE_H))
      else:
          return self.isopen
  
imports: import math
  from typing import Optional, Union
  import numpy
  import gym
  from gym import spaces
  from gym.envs.box2d.car_dynamics import Car
  from gym.error import DependencyNotInstalled, InvalidAction
  from gym.utils import EzPickle
label_desc: Use image node_id 9 for calling the CarRacing obj's underlying member method code with example usage: obj._render(mode) and returns: self, self, self