Based on the gymnasium library, and more precisely on the car game from the "box2d" environnement. https://gymnasium.farama.org/environments/box2d/car_racing/
action ['+0.00', '+1.00', '+0.00'] The first action value is steering (-1 for full left, +1 for full right). Second one is acceleration, third one is breaking.
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.