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