Version 1.29

  • Added documentation on the sensors output signals.

  • Added the postprocess_depth flag to the Camera sensor, which makes the distinction of the depth image clearer, but is computationally intensive (off by default)

  • Added time as a field of the State sensor, represents the current simulation time (which is different from the Timer sensor representing the time since the scenario start)

  • Added new flag to automated sensors: is_dir_world_space

    • False by default; if True, then the dir argument of the sensors represents the world space direction instead of the vehicle space direction vector

  • Updated example with setting a windowed mode resolution

  • Examples changed to use the new Tech Ground level (tech_ground) instead of the Smallgrid (smallgrid). We encourage the users to use the Tech Ground level as the default flat level in for the improved support of annotations and materials.

  • BeamNGpy.scenario.load does not resume the physics anymore

  • Bugfixes

    • RADAR now works without shared memory.

    • Fixed find_objects_class when getting data from the simulator.

    • Fixed IdealRADAR with is_send_immediately=True.

    • Fixed BeamNGpy.scenario.delete not deleting the prefab file.

    • BeamNGpy functions using the cling=True argument should behave more reasonably when finding the ground level

      • the cling=True argument still does not work for Scenario.add_vehicle

  • Removals/Deprecations

    • Removed the IMU sensor. The AdvancedIMU is a replacement with more features.

    • Removed examples which used the deprecated old IMU sensor.

    • Removed LidarVisualizer and the pyopengl dependency

Version 1.28

  • Functionality added to allow the import of heightmaps (from 2D Python arrays).

  • Optimized network communication by removing extra acknowledgement messages.

  • The way of launching from BeamNGpy has changed. If you are launching without BeamNGpy and want to connect BeamNGpy later, you should change the command-line arguments you are using to: -console -nosteam -tcom-listen-ip -lua extensions.load('tech/techCore');tech_techCore.openServer(64256)

  • Added scenarios on IdealRADAR sensor use, to plot radar data and track objects.

  • Added scenario on road profile plotting.

  • Bugfixes

    • The Vehicle.logging module has been fixed and is usable again.

    • Fixed OpenStreetMap importer to manage mixed data as input in some cases.

Version 1.27.1

  • Camera sensor improvements

    • Added the function for easier retrieval of camera images being streamed through shared memory

    • Added the Camera.poll_raw and Camera.stream_raw functions for getting raw bytes from the simulator, the conversion to a bitmap image is skipped

    • Added the example to showcase these functions

Version 1.27

  • New features

    • GPS sensor added

    • RoadsSensor sensor added

    • IdealRadar sensor added

    • RADAR sensor now reads the Doppler velocity from vehicles in the simulation as well as static objects.

    • BeamNGpy now fully supports loading existing missions and Flowgraph scenarios. Look into the Scenario Control example notebook to learn more.

    • Beam stresses added as a mode to the AdvancedIMU sensor.

    • Camera, Lidar, and Radar sensor readings can now be streamed directly to shared memory in BeamNGpy, using dedicated stream() functions now found in the respective BeamNGpy sensor classes. This represents an alternative to the polling method used previously.

  • BeamNGpy projects updated for latest version

    • Impactgen: A script to generate various vehicle impact scenarios and output surround views of the affected vehicle in color and semantically annotated images.

    • BeamNG.gym: A collection of Gymnasium environments that cover various driving tasks simulated in

  • API changes

    • Relative camera interface changed to use vectors instead of quaternions.

    • Changed the input and output types of the BeamNGpy.scenario.get_scenarios function:

      • the levels argument is now a list of level names or instances of the Level class to get scenarios for

      • the return value is now a dictionary where the keys are the level names, and the values are lists of scenarios for the given level

    • Removed the level argument of BeamNGpy.scenario.get_current, as the level information is now queried from the simulator.

    • Function added to the Vehicle class to deflate vehicle tires, e.g. to simulate tire blowout.

  • Bugfixes

    • Fixed a bug where loading a BeamNGpy scenario could cause an infinite-loading screen glitch.

    • Fixed the Mesh sensor not working.

    • Part annotations for vehicles are working again.

    • Bug fixed when using multiple ultrasonic sensors, where the first sensor would not update in simulator.

    • Bug fixed when using ultrasonic sensor, relating to failure to detect at some angles to surfaces

    • Bug fixed with ultrasonic sensor, relating to typos in parameter names, rendering some parameters unusable from BeamNGpy.

    • Bug fixed with AdvancedIMU sensor, when using gravity. Did not work from BeamNGpy before.

    • Bug fixed with AdvancedIMU sensor, relating to the smoothing not working from BeamNGpy.

    • Bug fixed with the relative camera, which was not operating correctly.

  • Miscellaneous

    • The physics update rate of launched from BeamNGpy is being changed from 4000 to 2000 times per second to be consistent with the default for the simulator. To change the physics update rate to a different value, you can pass the -physicsfps <DESIRED_VALUE> argument to the simulator binary.

    • Scenarios created using BeamNGpy are now using the JSON format for prefab generation instead of the old TorqueScript format.

    • connection to the simulator is now by default listening on the local interface only ( You can change it to listen on other IP addresses by using the listen_ip argument in the function, or the -tcom-listen-ip command-line argument, if you are not launching using BeamNGpy.

    • Optimized Python processing of the depth camera image (thanks for the contribution!)

Version 1.26.1

  • New features

    • OpenDrive (.xodr) importer added, and new example created in Examples folder.

    • OpenStreetMap (.osm) importer and exporter added, and new examples created in Examples folder.

    • Eclipse Sumo (.nod.xml and .edg.xml) importer and exporter added, and new examples created in Examples folder.

  • BeamNGpy fixes / improvements

    • Improved/added documentation

      • Scenario class now has all parameters documented.

      • BeamNGpy.debug API methods are now documented

      • BeamNGpy.env now contains more information about the ‘time of day’ object

      • Added documentation for RADAR and Mesh sensors

    • Vehicle.set_part_config now does not recreate the existing connection to the simulator, as it was not needed

    • Small refactor of unit tests, the automated sensor scripts are now also runnable under the pytest framework

    • Invalid vehicle and scene object names produced error in the simulation, now the validation is done on BeamNGpy side

      • name cannot start with the % character or a digit

      • name cannot contain the / character

    • Added new options to BeamNGpy.scenario.load called connect_player_vehicle and connect_existing_vehicles

      • connect_player_vehicle is True by default and it connects the player vehicle to the simulation after scenario load

      • connect_existing_vehicles is True by default and it connects all the already existing vehicles to the simulation after scenario load

      • setting these options to False can reduce the loading time by skipping the connection-establishing part, and these vehicles can still be connected manually using Vehicle.connect

    • Added crash_lua_on_error option to the BeamNGpy constructor

      • behaves in the same way as the option of the same name in

Version 1.26

  • RADAR sensor

    • Sensor currently works with static scenery but not vehicles. Will be added in later update.

    • Sensor comes with standard Lua API and BeamNGpy API.

    • Example scripts provided in BeamNGpy.

  • Vehicle meshes now available in BeamNGpy

    • Can provide data up to 2000 times per second.

    • Vehicle nodes and physics triangle data available in BeamNGpy, including for individual vehicle wheels.

    • Comes with standard Lua API and BeamNGpy API.

    • Post-processing written in BeamNGpy to compute mesh connectivity data and analyse the mesh data (position, mass, force, velocity).

    • Example scripts provided in BeamNGpy.

  • IMU sensor

    • Added ability to filter gyroscopic readings (as well as acceleration readings). Separate data filtering is used for each.

  • Sensor suite bug fixes

    • Fix: problem when changing the requested update times/priority parameters after various sensors were already created, sensor would not update correctly/quickly.

    • Fix: gravity vector was not being applied correctly in IMU sensor.

    • Fix: camera images from static sensors were being rendered upside down.

    • Fix: LiDAR sensor was not returning the whole point cloud in BeamNGpy

  • Export BeamNG maps as .xodr files (OpenDrive)

    • BeamNGpy now provides the option to export our map road networks as .xodr files (OpenDrive). The exported road networks contain elevation and road wideness data, along with junction connectivity. On top of this, BeamNGpy also includes a new class with which to analyse the road network data oneself, and process it as required.

  • BeamNGpy fixes / improvements

    • Optimized the speed of depth camera processing

    • Added new API:

      • BeamNGpy.env.get_tod for getting the information about the time of day

      • BeamNGpy.env.set_tod for setting the time-of-day information, allowing to control the day/night cycle from Python

      • BeamNGpy.env.get_gravity for getting the current value of the strength of gravity in the simulator.

      • Vehicle.get_center_of_gravity for getting the center of gravity of a vehicle.

    • Added option to remove procedural meshes

    • Added new option to called crash_lua_on_error

      • If False (the default), then Lua crashes in the simulator will not break the connection between and BeamNGpy. Set to True for getting proper stacktraces and easier debugging.

    • Added new option to BeamNGpy.scenario.load called precompile_shaders

      • If True (the default), asynchronous shader compilation is disabled. That means the first loading of a map will take longer time, but all parts of the map will be preloaded. If False, the camera sensor can have issues shortly after starting the scenario.

    • Better handling of errors and crashes in the BeamNGpy TCP protocol.

    • Fixed vehicle.control with zero integer arguments being ignored.

    • Re-added BeamNGpy.scenario.get_vehicle (removed by accident in the last release).

    • BeamNGpy.settings.set_deterministic and BeamNGpy.settings.set_steps_per_second are not persistent anymore and are applied only for a single run of the simulation.

Version 1.25.1

  • fixed in v0.27.1.0: converted all vehicle rotations sent to BeamNGpy to be consistent with each other - if the rotation you are using is 180° rotated across the Y axis, you can use the beamngpy.quat.flip_y_axis function to flip it

  • fixed BeamNGpy.vehicles.replace to respect vehicle color and license plate text

Version 1.25

  • Added type hints to the whole BeamNGpy codebase

  • Updated documentation to be more readable

  • Modularized BeamNGpy API

    • The functions on the BeamNGpy object are now split into modules for easier navigation:

      • - configuring the in-game camera

      • BeamNGpy.control - controlling the simulator state (pausing, stepping, quitting the simulator)

      • BeamNGpy.debug - drawing debug objects

      • BeamNGpy.env - controlling the environment state (time of day, gravity)

      • BeamNGpy.scenario - loading/starting/stopping a BeamNG scenario

      • BeamNGpy.settings - changing the simulator’s settings

      • BeamNGpy.system - info about the host system

      • BeamNGpy.traffic - controlling the traffic

      • BeamNGpy.ui - controlling the GUI elements of the simulator

      • BeamNGpy.vehicles - controlling vehicles

    • Some of the functions on the Vehicle object are also moved into modules for easier navigation:

      • - controlling the AI of the vehicle

      • Vehicle.logging - controlling the in-game logging

    • the previous, not modularized API is still available for backwards compatibility reasons

    • see more in the documentation

  • Advanced IMU sensor

    • replaces the accelerometer sensor from last release

    • improves upon the existing IMU sensor by using a more advanced algorithm, and provides readings at up to 2000 Hz

  • Powertrain sensor

    • new sensor for analysing powertrain properties at high frequency (up to 2000 Hz)

    • new test/demo scripts are available to show execution of this sensor

  • New BeamNGpy functionality

    • added support for a custom binary name in BeamNGpy constructor

    • BeamNGpy.traffic.spawn to spawn traffic without a set of predefined vehicles

    • BeamNGpy.traffic.reset to reset all traffic vehicles from the player (teleport them away).

    • Vehicle.teleport now supports changing rotation without resetting the vehicle

    • now always tries to connect to already running simulator no matter the value of the launch argument

    • Vehicle.switch, Vehicle.focus to switch the simulator’s focus to the selected vehicle

    • BeamNGpy.vehicles.spawn now has a new argument connect to allow for not connecting the newly spawned vehicle to BeamNGpy

    • Vehicle.recover to repair a vehicle and teleport it to a drivable position

    • BeamNGpy.vehicles.replace to replace a vehicle with another one at the same position

    • beamngpy.quat.quat_multiply utility function to multiply two quaternions

    • optimized the Camera sensor decoding to be faster

    • updated the required Python packages to newer versions

    • Vehicle.set_license_plate to set a license plate text for a vehicle

    • Vehicle.sensors.poll now allows also polling only a specified list of sensor names

    • BeamNGpy.disconnect to disconnect from the simulator without closing it

    • changed Camera sensor default parameters to not include annotation and depth data (for faster polling)

    • added the optional steps_per_second parameter to BeamNGpy.settings.set_deterministic

    • BeamNGpy.control.return_to_main_menu to exit the currently loaded scenario

    • added the parameter quit_on_close to the BeamNGpy constructor. If set to False, BeamNGpy.close will keep the simulator running.

  • Bugfixes

    • Vehicle.state['rotation'] now returns vehicle rotation consistent with the rest of the simulator. Previously, this rotation was rotated 180° around the Y axis.

      • ⚠️ if you are using Vehicle.state['rotation'] in your existing scripts, you may need to flip it back for your intended use. You can use beamngpy.quat.quat_multiply((0, 0, 1, 0), <your_rotation>) for that purpose.

    • fixed the issue with BeamNGpy scenarios sometimes resetting and not working properly after loading

    • fixed Camera.extract_bounding_boxes not to crash on non-Windows systems

    • fixed beamng.scenario.start() not working when the simulator was paused with beamng.control.pause() before

    • fixed vehicle color and license plate text not being applied to dynamically spawned vehicles

  • BeamNGpy protocol: added support for out-of-order protocol messages

  • Deprecations

    • the remote argument of the BeamNGpy class is not used anymore

Version 1.24

  • Major changes to the protocol communicating between and BeamNGpy

    • Be aware that versions of older than 0.26 are not compatible with BeamNGpy 1.24 and older versions of BeamNGpy will not work with 0.26.

  • Major updates to BeamNGpy sensor suite and its API

    • The public API of the Camera, Lidar and Ultrasonic sensors changed heavily, please see the examples folder to see their usage.

  • Accelerometer sensor now available

  • Add support for loading TrackBuilder tracks

  • Add support for loading Flowgraph scenarios

  • Fix: multiple vehicles now do not share color in instance annotations

  • Add Vehicle.teleport helper function which allows to teleport a vehicle directly through its instance

  • now tries to (re)connect to already running local instance

  • Removed deprecated BeamNGpy functionality

    • setup_logging (superseded by set_up_simple_logging and config_logging)

    • rot argument used for setting rotation of objects and vehicles in Euler angles, use rot_quat which expects quaternions (you can use the helper function angle_to_quat to convert Euler angles to quaternions)

    • update_vehicle function is removed

    • the requests argument in Vehicle.poll_sensors is removed

    • poll_sensors now does not return a value

    • the deploy argument of is removed

Version 1.23.1

  • Add Feature Overview notebook

  • Add argument checking to the IMU sensor

  • Add support for Mesh Roads

  • Add option to log BeamNGpy protocol messages

  • Fix duplicate logging when calling config_logging multiple times

Version 1.23

  • Fix semantic annotations (supported maps are Italy and ECA)

  • Add option to teleport vehicle without resetting its physics state

  • Add option to set velocity of a vehicle by applying force to it

  • Support for updated ultrasonic sensor

  • New sensor API - LiDAR, ultrasonic sensor

  • Fix camera sensor creating three shared memories even when not needed

  • Add BeamNGpy feature overview example notebook

  • Remove research mod deployment and setup-workspace phase of setup

  • (Experimental) Support for Linux servers

Version 1.22

  • Hide menu on a scenario start

  • Do not detach the state sensor on disconnecting a vehicle, as this disallows the reuse of vehicle objects

  • Fix camera sensor logging error

  • Fix ‘Using mods with BeamNGpy’ demo notebook

Version 1.21.1

  • Fix example notebooks

Version 1.21

  • Fix and restructure logging usage

  • Add more verbose logging

  • Fix message chunking in networking

  • Update examples/tests to address GridMap being gone

  • Improve handling of userpath discovery and mod deployment

Version 1.20

  • Adjust userpath handling according to changes in from 0.22 onwards

  • Overhaul documentation style and structure

  • Add function to set up userpath for usage

  • Add multicam test

  • Fix issue when multiple functions are waiting in researchGE.lua

  • Fix instance annotations always being rendered even when not desired

Version 1.19.1

  • Swap client/server model to allow multiple BeamNGpy instances to connect to one running simulator simultaneously

  • Add Level class representing a level in the simulation

  • Change Scenario class to point to Level it is in

  • Add get_levels, get_scenarios, get_level_scenarios, get_levels_and_scenarios methods to BeamNGpy class to query available content

  • Add get_current_scenario method to BeamNGpy class to query running scenario

  • Add get_current_vehicles method to BeamNGpy class to query active vehicles

  • Add SceneObject class to the scenario module as a basis for the various types of objects in a scene in, currently including DecalRoad

  • Add get_scenetree and get_scene_object methods to BeamNGpy class to enable querying objects in the active scene

  • Add add_debug_spheres, add_debug_polyline, add_debug_cylinder, add_debug_triangle, add_debug_rectangle, add_debug_text, add_debug_square_prism methods to BeamNGpy class to visualize 3D gizmos in the simulator

  • Add Inertial Measurement Unit sensors

  • Add Ultrasonic Distance Measurement sensor

  • Add noise module to randomize sensor data for cameras and lidars

  • Add instance annotation option to Camera sensor including methods to extract_bboxes, export_bbox_xml, and draw_bboxes for bounding-box-related operations based on semantic and instance annotations (limited to vehicles right now)

  • Add options to use only socket-based communication for Camera and Lidar sensor

  • Add methods to configure’s Vehicle Stats Logger from BeamNGpy

  • Add FAQ to README

  • Add Contributor License Agreement and guidelines

  • Fix stray dependency on PyScaffold

  • Fix lidar points being visible in camera sensor images

Version 1.18

  • Add function to switch current viewport to the relative camera mode with options to control the position of the camera

  • Add function to display debug lines in the environment

  • Add function to send Lua commands to be executed inside the simulation

Version 1.17.1

  • Fix deterministic mode ignoring user-defined steps per second

Version 1.17

  • Add change_setting and apply_graphics_setting methods including a usage example

  • Add option to specify rotations as quaternions where appropriate

  • Add example for querying the road network

Version 1.16.5

  • Fix prefab compilation

Version 1.16.4

  • Add teleport_scenario_object method to BeamNGpy class

  • Update vehicle state example

  • Fix decal road positioning

  • Fix spawn_vehicle not setting color and license plate correctly

  • Fix spawn_vehicle rotation in degrees

Version 1.16.3

  • Fix lidar visualizer using wrong buffer types in newer PyOpenGL version

Version 1.16.2

  • Update values of Electrics sensor not following our naming conventions

  • Fix camera orientation issue

  • Add example for using the Camera sensor like a multishot camera

Version 1.16.1

  • Fix spaces in vehicle names breaking the scenario prefab

Version 1.16

  • Make BeamNGpy ship required Lua files and deploy them as a mod on launch

  • Add traffic controls

  • Add option to specify additional Lua extensions to load per vehicle

  • Add set_lights method to vehicle class

  • Add test for setting lights

  • Add test for vehicle bounding box

  • Add over_objects field to Road class

  • Fix lack of __version__

  • Fix electrics sensor not returning values directly

  • Fix ai_set_script teleporting vehicle

Version 1.15

  • Add option to pass additional Lua extensions to be loaded on startup

  • Fix waiting for vehicle spawn after changing parts to hang infinitely

Version 1.13

  • Add option to disable node interpolation on roads

  • Add get_bbox() method to Vehicle class

Version 1.12

  • Add option to specify road ID for placed DecalRoads

Version 1.11

  • Add StaticObject class to scenario module that allows placement of static meshes

  • Add option for visualization to the Lidar sensor

  • Add helper functions to query scenario for certain objects in the world

  • Add example notebook showcasing procedural mesh and static mesh placement including a scenario camera

  • Fix vehicle state not being synchronized properly

  • Fix scenario unloading glitch

  • Fix ai_drive_in_lane not updating GUI state correctly

  • Fix camera sensor showing residual head-/taillight flare

Version 1.10

  • Add functions to spawn/despawn vehicles during a scenario

  • Add script AI function to vehicle and update AI line example accordingly

  • Add function to change AI aggression

  • Add functions to place procedurally generated primitives in the environment

  • Add unit tests for sensors, scenarios, and vehicles

  • Fix scenario not being cleared when BeamNG instance is closed

Version 1.9.1

  • Make scenario generation & loading respect user path setting

Version 1.9

  • Add function to switch active vehicle

  • Add function to set position & orientation of the ingame camera

Version 1.8

  • Add vehicle teleporting function to BeamNGpy class

  • Add time of day control

  • Add function to switch weather presets

  • Add function to await vehicle spawns

  • Expose part configuration options of vehicles

  • Expose current part configuration of vehicles

  • Add function to change part configuration of vehicles

  • Add function to change vehicle colour

  • Add more documentation

Version 1.7.1

  • Make ai methods switch to appropriate modes

Version 1.7

  • Add manual gear control

  • Add shift mode control

Version 1.6

  • Add option to set target waypoint for builtin vehicle AI

  • Make shmem handle unique OS-wide

Version 1.5

  • Add get_gamestate() to BeamNGpy class

  • Make vehicle state being synched upon initial connection

  • Fix vehicle state not being updated on poll if only gameengine-specific sensors were attached.

Version 1.4

  • Add vehicle-level state updates

  • Rework code to work with existing scenarios/vehicles

Version 1.3

  • Add support to specify polyline with per-vertex speed to the AI

Version 1.2

  • Add wait option to step function in

Version 1.1

  • Add basic Lidar point cloud visualiser

  • Add AI control to vehicles

  • Add option to attach cameras to scenarios to render frames relative to world space

Version 1.0

  • Restructure code to offer modular sensor model

  • Implement scenario class to specify and generate BeamNG scenarios

  • Implement vehicle class that offers control over vehicles and ways to dynamically de-/attach sensors

  • Implement shared memory communication to boost performance

  • Add Camera sensor with colour, depth, and annotation data

  • Add multi-cam support

  • Add lidar sensor

  • Add G-Force sensor

  • Add damage sensor

  • Add electrics sensor

  • Add control over simulation timescale and stepping through simulation at fixed rates

  • Add example code demonstrating scenario specification with control of a vehicle that has various sensors attached

Version 0.4

  • Add move_vehicle() method.

Version 0.3.6

  • Pass configured host and port to process.

Version 0.3.5

  • Fix close() in BeamNGPy not checking if there’s even a process to be killed.

Version 0.3.4

  • Fix messages being split incorrectly when the message happened to contain a newline through msgpack encoding.

Version 0.3.3

  • Make BeamNGPy class take **options and add console as one to allow running with the console flag.

Version 0.3.2

  • Make BeamNGpy assume a running instance if binary is set to None

  • Add option to change vehicle cursor

Version 0.3.1

  • Add restart_scenario method to restart a running scenario

Version 0.3

  • Add method to pause simulation

  • Add method to resume simulation

Version 0.2

  • Add option to specify image size when requesting vehicle state

  • Add blocking method to get vehicle state

  • Add method to set relative camera

  • Add methods to hide/show HUD

  • Default to realistic gearbox behaviour

  • Add gear property to vehicle state

  • Add gear as an option to vehicle input representing the gear the vehicle is supposed to shift to.

Version 0.1.2

  • Remove fstrings from documentation

  • Add option to override binary being called

Version 0.1

  • Basic IPC and example functions