KEY FIX: env.unwrapped.viewer.exit_scene() sends exit_scene through the proper
established websocket connection. The previous raw socket approach failed because
DonkeyCar uses a specific TCP protocol framing.
Working flow:
1. Connect to current scene using gym.make(current_env_id)
2. env.unwrapped.viewer.exit_scene() — sends exit via websocket
3. Wait 4s for sim to return to main menu
4. gym.make(target_env_id) — sim now loads the correct scene (loading scene X confirmed)
This enables fully automated multi-track evaluation and training without user intervention.
Confirmed working: generated_track → generated_road switch verified.
Agent: pi/claude-sonnet
Tests: 53/53 passing
Tests-Added: 0
TypeScript: N/A
Paul Huliganga