Package: beamngpy
BeamNGpyBeamNGpyis an official library providing a Python API toBeamNG.tech,
the academia- and industry-oriented fork of the video gameBeamNG.drive.
BeamNGpy and BeamNG.tech are designed to go hand in hand, both being kept up
to date to support each other's functions, meaning using the latest versions
of both is recommended.It allows remote control of the simulation, including vehicles contained in it.
SeeFeaturesor go through theFeature OverviewJupyter notebook.Table of ContentsFeaturesPrerequisitesInstallationUsageCompatibilityTroubleshootingFeaturesBeamNGpy comes with a wide range of low-level functions to interact with the
simulation and a few higher-level interfaces that make more complex actions
easier. Some features to highlight are:Remote Control of VehiclesEach vehicle can be controlled individually and independently during the
simulation. This includes basic steering inputs, but also controls over
various lights (headlights, indicators, etc.) or gear shifting.Throttle Control.webmSteering Control.webmAI-controlled VehiclesBesides manual control, BeamNG.tech ships with its own AI to control vehicles.
This AI can be configured and controlled from BeamNGpy. It can be used to
make a vehicle drive to a certain waypoint, make it follow another vehicle,
span the map, or follow a user-defined trajectory:Dynamic Sensor ModelsVehicles and the environment can be equipped with various sensors that provide
simulated sensor data. These sensors include:CamerasColor cameraDepth cameraSemantic and Instance annotationsLidarsInertial Measurement UnitsUltrasonic Distance MeasurementsThese sensors give perfect data from the simulation by default. Therefore, some
of them, like the camera and lidar sensor, can be equipped to also simulate
noisy data.Access to Road Network & Scenario ObjectsGeometry of roads in the currently-loaded level/scenario are made available
via BeamNGpy. Objects and vehicles that are currently active in the scene
are also exposed, allowing for analysis of the current simulation state.Multiple ClientsBeamNGpy interacts with BeamNG.tech as the client, with BeamNG.tech acting
as the server. This allows for multiple BeamNGpy processes to connect to a
running simulation and have each control the simulator, making it possible
to, for example,run a scenario in which each vehicle is controlled by
a separate client.MoreThere is a healthy collection of usage examples in theexamples/folder of this repository. These highlight more features, but also serve
as documentation, so be sure to check them out.PrerequisitesUsage of BeamNGpy requires BeamNG.tech to be installed. For commercial use,
contact us atlicensing@beamng.gmbh. Builds of BeamNG.tech are made
available for research and academic use upon request usingthis form.
Once downloaded, you can use the environment variableBNG_HOMEto where
BeamNG.tech can be run from, or provide a path to the BeamNGpy library
during initialization.InstallationThe library itself is available onPyPIand can therefore be installed
using common methods likepip:pip install beamngpyIf you useAnaconda, you can
install BeamNGpy from theconda-forgechannel by:conda install beamngpy -c conda-forgeTo upgrade, usepip install --upgrade beamngpyif you installed BeamNGpy usingpiporconda update beamngpy -c conda-forge --no-pinif you installed it usingconda.UsageDISCLAIMER:If you are using an older version ofbeamngpyand BeamNG.tech, please follow the
instructions of the correspondingREADMEfile (for example,1.27.1 instructions). If you are using the latest version of BeamNGpy, continue following the instructions located in this README file.The library can be imported usingimport beamngpy. A short
usage example setting up a scenario with one vehicle in the West Coast USA map
that spans the area is:frombeamngpyimportBeamNGpy,Scenario,Vehicle# Instantiate BeamNGpy instance running the simulator from the given path,# communicating over localhost:64256bng=BeamNGpy('localhost',64256,home='/path/to/bng/tech',user='/path/to/bng/tech/userfolder')# Launch BeamNG.techbng.open()# Create a scenario in west_coast_usa called 'example'scenario=Scenario('west_coast_usa','example')# Create an ETK800 with the licence plate 'PYTHON'vehicle=Vehicle('ego_vehicle',model='etk800',license='PYTHON')# Add it to our scenario at this position and rotationscenario.add_vehicle(vehicle,pos=(-717,101,118),rot_quat=(0,0,0.3826834,0.9238795))# Place files defining our scenario for the simulator to readscenario.make(bng)# Load and start our scenariobng.scenario.load(scenario)bng.scenario.start()# Make the vehicle's AI span the mapvehicle.ai.set_mode('span')input('Hit enter when done...')We have aguidehelping you getting started and navigating our collection of examples and
the documentation of the library is availablehere.CompatibilityBeamNG.tech is not a finished product but is still under development.
Thus frequent changes on the simulation side are to be expected.
While the BeamNGpy library maintains compatibility between minor versions for the user, this doesn't extend to the BeamNG.tech side. Not all BeamNGpy versions are compatible with all BeamNG.tech versions.
Below is a list of compatible BeamNG.tech and BeamNGpy versions.
However we do not maintain minor versions: bug fixes and new features will only be available for the newest BeamNG.tech and BeamNGpy releases.BeamNG.tech versionBeamNGpy version0.311.280.301.27.10.28, 0.291.26.10.271.25.10.261.240.251.23.10.241.220.231.21.10.221.200.211.19.1TroubleshootingThis section lists common issues with BeamNGpy in particular. Since this
library is closely tied to BeamNG.tech and thus BeamNG.drive, it is also
recommended to consult the documentation on BeamNG.drive here:https://documentation.beamng.com/BeamNGpy cannot establish a connectionBe sure to complete the initial set up step described in the Usage section and to repeat it with every newly released BeamNG.tech version.Make sure BeamNG.tech and Python are allowed to connect to your current
network in Windows Firewall.BeamNG.tech quietly fails to launchThere is a known issue where BeamNG.tech quietly crashes when there is a
space in the configured userpath. Until this issue is fixed, it is
recommended to either switch to a path that does not contain a space or
change the userpath directly in the "startup.ini" file located in the
directory of your BeamNG.tech installation.ContributionsWe always welcome user contributions, be sure to check out ourcontribution guidelinesfirst, before starting your work.