BeamNGpy Reference

BeamNGpy

class beamngpy.BeamNGpy(host: str, port: int, home: str | None = None, binary: str | None = None, user: str | None = None, quit_on_close: bool = True, crash_lua_on_error: bool | None = None)

The BeamNGpy class is the backbone of communication with the BeamNG simulation and offers methods of starting, stopping, connecting to, and controlling the state of the simulator.

Instantiates a BeamNGpy instance connecting to the simulator on the given host and port. The home directory of the simulator can be passed to this constructor. If None is given, this class tries to read a home path from the BNG_HOME environment variable.

Parameters

host (str) – The host to connect to.
port (int) – The port to connect to.
home (str | None) – Path to the simulator’s home directory.
binary (str | None) – Optional custom path to the binary, relative to the simulator’s home directory. Default is Bin64/BeamNG.{tech/drive}.x64.exe for Windows hosts, BinLinux/BeamNG.{tech/drive}.x64 for Linux hosts.
user (str | None) – Additional optional user path to set. This path can be used to set where custom files created during executions will be placed if the home folder shall not be touched.
quit_on_close (bool) – Whether the simulator should be closed when close() is called. Defaults to True.
crash_lua_on_error (bool | None) – If True, then sets BeamNG to not respond to BeamNGpy requests when a Lua error happens and prints the stacktrace instead. Is applicable only when the process is launched by this instance of BeamNGpy, as it sets a launch argument of the process. Defaults to False.

camera

The API module to control the camera in the simulator. See CameraApi for details.

Type: CameraApi

control

The API module to control the flow of the simulation. See ControlApi for details.

Type: ControlApi

debug

The API module to control debug objects. See DebugApi for details.

Type: DebugApi

env

The API module to control the simulation’s environment. See EnvironmentApi for details.

Type: EnvironmentApi

scenario

The API module to control the scenarios. See ScenarioApi for details.

Type: ScenarioApi

settings

The API module to control the settings of the simulator. See SettingsApi for details.

Type: SettingsApi

system

The API module for getting information about the host system. See SystemApi for details.

Type: SystemApi

traffic

The API module to control the traffic. See TrafficApi for details.

Type: TrafficApi

vehicles

The API module to control the vehicles in the scenario. See VehiclesApi for details.

Type: VehiclesApi

close() → None

Disconnects from the simulator and kills the BeamNG.* process.

Return type: None

disconnect() → None

Disconnects from the BeamNG simulator.

Return type: None

host_os() → str | None

The operating system of the host the simulator is running on.

Return type: str | None

open(extensions: Optional[List[str]] = None, *args: str, launch: bool = True, crash_lua_on_error: bool | None = None, listen_ip: str = '127.0.0.1', **opts: str) → BeamNGpy

Starts a BeamNG.* process, opens a server socket, and waits for the spawned BeamNG.* process to connect. This method blocks until the process started and is ready.

Parameters

extensions (Optional[List[str]]) – A list of non-default BeamNG Lua extensions to be loaded on start.
launch (bool) – Whether to launch a new process or connect to a running one on the configured host/port. Defaults to True.
crash_lua_on_error (bool | None) – If True, then sets BeamNG to not respond to BeamNGpy requests when a Lua error happens and prints the stacktrace instead. Is applicable only when the process is launched by this instance of BeamNGpy, as it sets a launch argument of the process. Defaults to False.
listen_ip (str) – The IP address that the BeamNG process will be listening on. Only relevant when launch is True. Set to * if you want BeamNG to listen on ALL network interfaces.
args (str) –
opts (str) –

Return type

BeamNGpy

tech_enabled() → bool | None

A flag that specifies whether a BeamNG.tech features are enabled or not.

Return type: bool | None

API

class beamngpy.api.beamng.Api(beamng: BeamNGpy)

Bases: object

A base API class from which all the API communicating with the simulator derive.

Parameters: beamng (BeamNGpy) – An instance of the simulator.

class beamngpy.api.beamng.CameraApi(beamng: BeamNGpy)

Bases: Api

An API class which allows control of the in-game camera and also provides information about the semantic annotation classes.

Parameters: beamng (BeamNGpy) – An instance of the simulator.

get_annotation_classes(annotations: Dict[str, Int3]) → Dict[int, str]

Method to convert the annotation configuration of the simulator into a mapping of colors to the corresponding object classes.

Parameters: annotations (Dict[str, Int3]) – The annotation configuration of the simulator. Expected to be in the format get_annotations() returns.
Returns: A mapping of colors encoded as 24bit integers to object classes according to the simulator.
Return type: Dict[int, str]

get_annotations() → Dict[str, Int3]

Method to obtain the annotation configuration of the simulator.

Returns: A mapping of object classes to lists containing the [R, G, B] values of the colors objects of that class are rendered with.
Return type: Dict[str, Int3]

get_player_modes(vehicle: str | Vehicle) → StrDict

Retrieves information about the camera modes configured for the vehicle identified by the given ID.

Parameters: vehicle (str | Vehicle) – Vehicle ID of the vehicle to get camera mode information of.
Returns: A dictionary mapping camera mode names to configuration options.
Return type: StrDict

set_free(pos: Float3, direction: Float3) → None

Sets the position and direction of the free camera. The free camera is one that does not follow any particular vehicle, but can instead be put at any spot and any position on the map.

Parameters

pos (Float3) – The position of the camera as a (x, y, z) triplet.
direction (Float3) – The directional vector of the camera as a (x, y, z) triplet.

Return type

None

set_player_mode(vehicle: str | Vehicle, mode: str, config: StrDict, custom_data: StrDict | None = None) → None

Sets the camera mode of the vehicle identified by the given vehicle ID. The mode is given as a string that identifies one of the valid modes offered by the simulator. These modes can be queried using the get_player_modes() method.

The camera can be further configured with some common parameters, but it is not guaranteed the camera mode will respect all of them. These parameters include:

rotation: The rotation of the camera as a triplet of Euler angles

fov: The field of view angle

offset: The (x, y, z) vector to offset the camera’s position by

distance: The distance of the camera to the vehicle

Since each camera mode is implemented as a custom Lua extension, it is not possible to automatically query the exact features of the mode. Further information can be found in the lua/ge/extensions/core/cameraModes files which contain the implementations of each camera mode.

Parameters

vehicle (str | Vehicle) – Vehicle ID of the vehicle to change the mode of.
mode (str) – Camera mode to set.
config (StrDict) – Dictionary of further properties to set in the mode.
custom_data (StrDict | None) – Custom data used by the specific camera mode. Defaults to None.

Return type

None

set_relative(pos: Float3, dir: Float3, up: Float3 = (0.0, 0.0, 1.0)) → None

Switches the camera mode for the currently-entered vehicle to the ‘relative’ mode in which the camera can be placed at an arbitrary point relative to the vehicle, moving along with it as it drives around.

Parameters

pos (Float3) – (x, y, z) tuple of the camera’s position relative to the vehicle.
dir (x, y, z) – The cameras direction vector.
up (x, y, z) – The camera up vector (optional).

Return type

None

class beamngpy.api.beamng.ControlApi(beamng: BeamNGpy)

Bases: Api

An API allowing control of the flow of the simulation - pausing/resuming, stepping, and also enabling support for calling custom Lua code.

Parameters: beamng (BeamNGpy) – An instance of the simulator.

get_gamestate() → Dict[str, str]

Retrieves the current game state of the simulator. The game state is returned as a dictionary containing a state entry that is either:

scenario when a scenario is loaded

menu otherwise

If a scenario is loaded, the resulting dictionary also contains a scenario_state entry whose value is pre-running if the scenario is currently at the start screen or running otherwise.

Returns: The game state as a dictionary as described above.
Return type: Dict[str, str]

pause() → None

Sends a pause request to BeamNG.*, blocking until the simulation is paused.

Return type: None

queue_lua_command(chunk: str) → None

Executes one lua chunk in the game engine VM.

Parameters: chunk (str) – lua chunk as a string
Return type: None

quit_beamng() → None

Sends the quit request to the simulator, which also closes the process.

Return type: None

resume() → None

Sends a resume request to BeamNG.*, blocking until the simulation is resumed.

Return type: None

return_to_main_menu() → None

Returns to the main menu, possibly closing the loaded scenario.

Return type: None

step(count: int, wait: bool = True) → None

Advances the simulation the given amount of steps, assuming it is currently paused. If the wait flag is set, this method blocks until the simulator has finished simulating the desired amount of steps. If not, this method resumes immediately. This can be used to queue commands that should be executed right after the steps have been simulated.

Parameters

count (int) – The amount of steps to simulate.
wait (bool) – Optional. Whether to wait for the steps to be simulated. Defaults to True.

Raises

BNGError – If the wait flag is set but the simulator doesn’t respond appropriately.

Return type

None

class beamngpy.api.beamng.DebugApi(beamng: BeamNGpy)

Bases: Api

An API for drawing debug graphical objects in the simulator.

Parameters: beamng (BeamNGpy) – An instance of the simulator.

add_cylinder(circle_positions: List[Float3], radius: float, rgba_color: Color) → int

Adds graphical debug cylinder to the simulator with bases at positions specified by the circle_positions argument.

Parameters

circle_positions (List[Float3]) – List of two (x, y, z) coordinates of the circle centers.
radius (float) – The radius of the cylinder.
rgba_color (Color) – A single color of the points of the debug cylinder, in the format of (R, G, B, A). An A of 1.0 means full visibility, 0.0 means full transparency. Can also be instance of any type that the coerce_color() function accepts.

Returns

An integer ID of the debug cylinder added. This ID can be passed to the remove_cylinder() function.

Return type

int

add_polyline(coordinates: List[Float3], rgba_color: Color, cling: bool = False, offset: float = 0.0) → int

Adds graphical debug polyline to the simulator with points at positions specified by the coordinates argument.

The arguments coordinates, radii and rgba_colors have to have the same length, which is the number of the debug spheres added.

Parameters

coordinates (List[Float3]) – List of (x, y, z) coordinates of the debug spheres.
rgba_color (Color) – A single color of the points of the debug polyline, in the format of (R, G, B, A). An A of 1.0 means full visibility, 0.0 means full transparency. Can also be instance of any type that the coerce_color() function accepts.
cling (bool) – Whether or not to align the z coordinate of the spheres to the ground.
offset (float) – The z-axis offset of the sphere coordinates. Can only be used together with cling=True to spawn spheres an exact amount above the ground.

Returns

An integer ID of the debug polyline added. This ID can be passed to the remove_polyline() function.

Return type

int

add_rectangle(vertices: List[Float3], rgba_color: Color, cling: bool = False, offset: float = 0.0) → int

Adds graphical debug rectangle to the simulator with points at positions specified by the vertices argument.

Parameters

vertices (List[Float3]) – List of four (x, y, z) coordinates of the rectangle points.
rgba_color (Color) – A single color of the points of the debug rectangle, in the format of (R, G, B, A). An A of 1.0 means full visibility, 0.0 means full transparency. Can also be instance of any type that the coerce_color() function accepts.
cling (bool) – Whether or not to align the z coordinate of the rectangle points to the ground.
offset (float) – The z-axis offset of the rectangle coordinates. Can only be used together with cling=True to spawn rectangle an exact amount above the ground.

Returns

An integer ID of the debug rectangle added. This ID can be passed to the remove_rectangle() function.

Return type

int

add_spheres(coordinates: List[Float3], radii: List[float], rgba_colors: Union[List[Color], Color], cling: bool = False, offset: float = 0.0) → List[int]

Adds graphical debug spheres to the simulator at positions specified by the coordinates argument.

The arguments coordinates, radii and rgba_colors have to have the same length, which is the number of the debug spheres added.

Parameters

coordinates (List[Float3]) – List of (x, y, z) coordinates of the debug spheres.
radii (List[float]) – List of radii of the debug spheres in meters.
rgba_colors (Union[List[Color], Color]) – Either a single color or list of colors of the debug spheres, in the format of (R, G, B, A). An A of 1.0 means full visibility, 0.0 means full transparency. Can also be instances of any type that the coerce_color() function accepts.
cling (bool) – Whether or not to align the z coordinate of the spheres to the ground.
offset (float) – The z-axis offset of the sphere coordinates. Can only be used together with cling=True to spawn spheres an exact amount above the ground.

Returns

List of string IDs of the debug spheres added. This list can be passed to the remove_spheres() function.

Return type

List[int]

add_square_prism(end_points: List[Float3], end_point_dims: List[Float2], rgba_color: Color) → int

Adds graphical debug square prism to the simulator with the base squares at positions specified by the end_points argument.

Parameters

end_points (List[Float3]) – List of two (x, y, z) coordinates of the square prism end points.
end_point_dims (List[Float2]) – List of two (width, height) dimensions of the square prism end points.
rgba_color (Color) – A single color of the points of the debug square prism, in the format of (R, G, B, A). An A of 1.0 means full visibility, 0.0 means full transparency. Can also be instance of any type that the coerce_color() function accepts.

Returns

An integer ID of the debug square prism added. This ID can be passed to the remove_square_prism() function.

Return type

int

add_text(origin: Float3, content: str, rgba_color: Color, cling: bool = False, offset: float = 0.0) → int

Adds graphical debug text to the simulator at the position specified by the origin argument.

Parameters

origin (Float3) – The position of the text as an (x, y, z) coordinate.
content (str) – The text that is going to be displayed.
rgba_color (Color) – A single color of the text, in the format of (R, G, B, A). An A of 1.0 means full visibility, 0.0 means full transparency. Can also be instance of any type that the coerce_color() function accepts.
cling (bool) – Whether or not to align the z coordinate of the text to the ground.
offset (float) – The z-axis offset of the text origin. Can only be used together with cling=True to spawn the text an exact amount above the ground.

Returns

An integer ID of the text added. This ID can be passed to the remove_text() function.

Return type

int

add_triangle(vertices: List[Float3], rgba_color: Color, cling: bool = False, offset: float = 0.0) → int

Adds graphical debug triangle to the simulator with points at positions specified by the vertices argument.

Parameters

vertices (List[Float3]) – List of three (x, y, z) coordinates of the triangle points.
rgba_color (Color) – A single color of the points of the debug triangle, in the format of (R, G, B, A). An A of 1.0 means full visibility, 0.0 means full transparency. Can also be instance of any type that the coerce_color() function accepts.
cling (bool) – Whether or not to align the z coordinate of the triangle points to the ground.
offset (float) – The z-axis offset of the triangle coordinates. Can only be used together with cling=True to spawn triangle an exact amount above the ground.

Returns

An integer ID of the debug triangle added. This ID can be passed to the remove_triangle() function.

Return type

int

remove_cylinder(cylinder_id: int) → None

Removes the cylinder with the ID provided in the cylinder_id argument.

Parameters: cylinder_id (int) – An integer ID of the cylinder to be deleted.
Return type: None

remove_polyline(line_id: int) → None

Removes the polyline with the ID provided in the line_id argument.

Parameters: line_id (int) – An integer ID of the polyline to be deleted.
Return type: None

remove_rectangle(rectangle_id: int) → None

Removes the rectangle with the ID provided in the rectangle_id argument.

Parameters: rectangle_id (int) – An integer ID of the rectangle to be deleted.
Return type: None

remove_spheres(sphere_ids: List[int]) → None

Removes the spheres with the IDs provided in the sphere_ids argument.

Parameters: sphere_ids (List[int]) – A list of the integer IDs of the spheres to be deleted.
Return type: None

remove_square_prism(prism_id: int) → None

Removes the square prism with the ID provided in the prism_id argument.

Parameters: prism_id (int) – An integer ID of the prism to be deleted.
Return type: None

remove_text(text_id: int) → None

Removes the text with the ID provided in the text_id argument.

Parameters: text_id (int) – An integer ID of the text to be deleted.
Return type: None

remove_triangle(triangle_id: int) → None

Removes the triangle with the ID provided in the triangle_id argument.

Parameters: triangle_id (int) – An integer ID of the triangle to be deleted.
Return type: None

class beamngpy.api.beamng.EnvironmentApi(beamng: BeamNGpy)

Bases: Api

An API allowing control of the in-game environment variables, such as time, weather or gravity.

Parameters: beamng (BeamNGpy) – An instance of the simulator.

get_gravity() → float

Gets the strength of gravity in the simulator.

Returns: The gravity value of the simulator.
Return type: float

get_tod() → StrDict

Gets the current ‘time of day’ object. That is a dictionary with the following keys:

time: Time of day on a scale from 0 to 1. 0/1 is midday, 0.5 is midnight.

timeStr: Time of day as a string in the format ‘HH:MM:SS’.

nightScale: How fast should the night be.

dayScale: How fast should the day be.

azimuthOverride: Used to specify an azimuth that will stay constant throughout the day cycle.

startTime: Time of day when the scenario started.

dayLength: Length of the day (24 hours).

Returns: The dictionary with keys specified above.
Return type: StrDict

set_gravity(gravity: float = -9.807) → None

Sets the strength of gravity in the simulator.

Parameters: gravity (float) – The gravity value to set. The default one is that of earth (-9.807).
Return type: None

Sets the current time of day. The time of day value is given as a float between 0 and 1. How this value affects the lighting of the scene is dependant on the map’s TimeOfDay object.

Parameters

tod (Optional[Union[float, str]]) – Time of day. Can be provided as a float between 0.0 and 1.0, or as a string in the format ‘HH:MM:SS’.
play (bool | None) – False by default.
day_scale (float | None) – How fast should the day be.
night_scale (float | None) – How fast should the night be.
day_length (float | None) – Length of the day (24 hours).
azimuth_override (float | None) – Used to specify an azimuth that will stay constant throughout the day cycle.

Return type

None

set_weather_preset(preset: str, time: float = 1) → None

Triggers a change to a different weather preset. Weather presets affect multiple settings at once (time of day, wind speed, cloud coverage, etc.) and need to have been defined first. Example json objects defining weather presets can be found in BeamNG.tech’s art/weather/defaults.json file.

Parameters

preset (str) – The name of the preset to switch to. Needs to be defined already within the simulation.
time (float) – Time in seconds the transition from the current settings to the preset’s should take.

Return type

None

class beamngpy.api.beamng.GEVehiclesApi(beamng: BeamNGpy, vehicle: Vehicle)

Bases: Api

A vehicle API that needs a connected BeamNGpy instance. It is exposed at the root level (directly accessible from the Vehicle object).

Parameters

beamng (BeamNGpy) –
vehicle (Vehicle) –

annotate_parts() → None

Return type: None

get_bbox() → Dict[str, Float3]

Return type: Dict[str, Float3]

get_part_config() → StrDict

Return type: StrDict

get_part_options() → StrDict

Return type: StrDict

revert_annotations() → None

Return type: None

set_license_plate(text: str) → None

Parameters: text (str) –
Return type: None

set_part_config(cfg: StrDict) → None

Parameters: cfg (StrDict) –
Return type: None

switch()

teleport(pos: Float3, rot_quat: Quat | None = None, reset: bool = True) → bool

Parameters

pos (Float3) –
rot_quat (Quat | None) –
reset (bool) –

Return type

bool

class beamngpy.api.beamng.ScenarioApi(beamng: BeamNGpy)

Bases: Api

An API gathering function for working with scenarios, levels and scenario objects.

Parameters: beamng (BeamNGpy) – An instance of the simulator.

find_objects_class(clazz: str) → List[ScenarioObject]

Scans the current environment in the simulator for objects of a certain class and returns them as a list of ScenarioObject.

What kind of classes correspond to what kind of objects is described in the BeamNG.drive documentation.

Parameters: clazz (str) – The class name of objects to find.
Returns: Found objects as a list.
Return type: List[ScenarioObject]

get_current(connect: bool = True) → Scenario

Queries the currently loaded scenario from the simulator.

Parameters: connect (bool) – Whether to connect the returned scenario and the currently loaded vehicles to BeamNGpy. Defaults to True. If set to False, you can still manually connect the returned scenario by running Scenario.connect().
Returns: A Scenario instance of the currently-loaded scenario. The scenario’s parent level field will be filled in accordingly.
Return type: Scenario

get_level_scenarios(level: str | beamngpy.scenario.level.Level) → List[Scenario]

Queries the simulator for all scenarios available in the given level.

Parameters: level (str | beamngpy.scenario.level.Level) – The level to get scenarios for. Can either be the name of the level as a string or an instance of Level.
Returns: A list of Scenario instances.
Return type: List[Scenario]

get_levels() → Dict[str, Level]

Queries the available levels in the simulator and returns them as a mapping of level name to Level instances.

Returns: A dictionary of available level names to a corresponding instance of the Level class.
Return type: Dict[str, Level]

get_levels_and_scenarios() → Tuple[Dict[str, Level], Dict[str, List[Scenario]]]

Utility method that retrieves all levels and scenarios and returns them as a tuple of (levels, scenarios).

Returns: (get_levels(), get_scenarios())
Return type: Tuple[Dict[str, Level], Dict[str, List[Scenario]]]

get_name() → str

Retrieves the name of the currently-loaded scenario in the simulator.

Returns: The name of the loaded scenario as a string.
Return type: str

get_road_edges(road: str) → List[Dict[str, Dict[str, Float3]]]

Retrieves the edges of the road with the given name and returns them as a list of point triplets. Roads are defined by a series of lines that specify the leftmost, center, and rightmost point in the road. These lines go horizontally across the road and the series of leftmost points make up the left edge of the road, the series of rightmost points make up the right edge of the road, and the series of center points the middle line of the road.

Parameters: road (str) – Name of the road to get edges from.
Returns: The road edges as a list of dictionaries with (left, middle, right) points. Each point is an (X, Y, Z) coordinate triplet.
Return type: List[Dict[str, Dict[str, Float3]]]

get_roads() → StrDict

Retrieves the metadata of all DecalRoads in the current scenario. The metadata of a DecalRoad is formatted as a dictionary with the following keys:

Returns: A dict mapping DecalRoad IDs to their metadata..
Return type: StrDict

get_scenarios(levels: Optional[Iterable[str | beamngpy.scenario.level.Level]] = None) → Dict[str, List[Scenario]]

Queries the available scenarios and returns them as a mapping of paths to Scenario instances. The scenarios are constructed to point to their parent levels, so to avoid extra queries to the simulator about existing levels, a cache of available levels can be passed to this method. If a partial list of levels is supplied, then only scenarios for these levels will be queried and returned.

Parameters: levels (Optional[Iterable[str | beamngpy.scenario.level.Level]]) – A list of level names or Level instances to get scenarios for. If None, scenarios from all levels will be returned.
Returns: A mapping of level names to lists of Scenario instances.
Return type: Dict[str, List[Scenario]]

get_vehicle(vehicle_id: str) → Vehicle | None

Retrieves the vehicle with the given ID from the currently loaded scenario.

Parameters: vehicle_id (str) – The ID of the vehicle to find.
Returns: The Vehicle with the given ID. None if it wasn’t found.
Return type: Vehicle | None

load(scenario: Scenario, precompile_shaders: bool = True, connect_player_vehicle: bool = True, connect_existing_vehicles: bool = True) → None

Loads the given scenario in the simulation and returns once loading is finished.

Parameters

scenario (Scenario) – The scenario to load.
precompile_shaders (bool) – Whether the shaders should be compiled before the start of the scenario. If False, the first load of a map will take a longer time, but disabling the precompilation can lead to issues with the Camera sensor. Defaults to True.
connect_player_vehicle (bool) – Whether the player vehicle should be connected to this (:class:.Scenario) instance. Defaults to True.
connect_existing_vehicles (bool) – Whether ALL vehicles spawned already in the scenario should be connected to this (:class:.Scenario) instance. Defaults to True.

Return type

None

load_trackbuilder_track(path: str)

Spawns a TrackBuilder track provided by the given path to a TrackBuilder .json file.

Parameters: path (str) – Path to a .json file created by TrackBuilder.

restart() → None

Restarts a running scenario.

Return type: None

start(restrict_actions: bool = False) → None

Starts the scenario; equivalent to clicking the “Start” button in the game after loading a scenario. This method blocks until the countdown to the scenario’s start has finished.

Parameters: restrict_actions (bool) – Whether to keep scenario restrictions, such as limited menu options and controls. Defaults to False.
Return type: None

stop() → None

Stops a running scenario and returns to the main menu.

Return type: None

teleport_object(scenario_object: ScenarioObject, pos: Float3, rot_quat: Quat | None = None) → None

Teleports the given scenario object to the given position with the given rotation.

Parameters

scenario_object (ScenarioObject) – The vehicle to teleport.
pos (Float3) – The target position as an (x,y,z) tuple containing world-space coordinates.
rot_quat (Quat | None) – Optional tuple specifying object rotation as a quaternion.

Return type

None

class beamngpy.api.beamng.SettingsApi(beamng: BeamNGpy)

Bases: Api

An API for changing the simulator settings.

Parameters: beamng (BeamNGpy) – An instance of the simulator.

apply_graphics() → None

Makes the game apply a graphics setting that has been changed since startup or the last time settings were applied. A call to this is required after changing settings like whether or not the game is in fullscreen or the resolution, otherwise those settings will only take effect after the next launch.

Return type: None

change(key: str, value: str) → None

Changes a setting in the game. Examples of the key and value pairs given to this method can be found in your game’s settings ini files. These are usually in <userpath>/settings/game-settings.ini or <userpath>/settings/cloud/game-settings-cloud.ini.

Parameters

key (str) – The key of the setting that is to be changed
value (str) – The desired value.

Return type

None

remove_step_limit() → None

Removes the steps-per-second setting, making the simulation run at undefined time slices.

Return type: None

set_deterministic(steps_per_second=None) → None

Sets the simulator to run in deterministic mode. For this to function properly, an amount of steps per second needs to have been specified in the simulator’s settings, through this function or through BeamNGpy.settings.set_steps_per_second().

Return type: None

set_nondeterministic() → None

Disables the deterministic mode of the simulator. Any steps per second setting is retained.

Return type: None

set_particles_enabled(enabled: bool) → None

Enable / disable visual particle emission.

Parameters: enabled (bool) – Whether to enable or disable effects.
Return type: None

set_steps_per_second(sps: int) → None

Specifies the temporal resolution of the simulation. The setting can be understood to determine into how many steps the simulation divides one second of simulation. A setting of two, for example, would mean one second is simulated in two steps. Conversely, to simulate one second, one needs to advance the simulation two steps.

Parameters: sps (int) – The steps per second to set.
Return type: None

class beamngpy.api.beamng.SystemApi(beamng: BeamNGpy)

Bases: Api

An API for getting info about the host system running the simulator.

Parameters: beamng (BeamNGpy) – An instance of the simulator.

get_info(os: bool = True, cpu: bool = False, gpu: bool = False, power: bool = False) → StrDict

Returns the information about the host’s system.

Parameters

os (bool) – Whether to include information about the operating system of the host.
cpu (bool) – Whether to include information about the CPU of the host.
gpu (bool) – Whether to include information about the GPU of the host.
power (bool) – Whether to include information about the power options of the host.

Return type

StrDict

class beamngpy.api.beamng.TrafficApi(beamng: BeamNGpy)

Bases: Api

An API for controlling the traffic

Parameters: beamng (BeamNGpy) – An instance of the simulator.

reset() → None

Resets (force teleports) all vehicles in the traffic away from the player. Useful for resolving traffic jam situations.

Return type: None

spawn(max_amount: int | None = None, police_ratio: float = 0, extra_amount: int | None = None, parked_amount: int | None = None) → None

Enables traffic simulation with freshly spawned vehicles.

Parameters

max_amount (int | None) – The maximum allowed vehicles to spawn. If None, defaults to in-game settings.
police_ratio (float) – A number between 0.0 and 1.0 indicating the ratio of police vehicles in the traffic.
extra_amount (int | None) – The maximum amount of inactive vehicles to spawn and swap in and out of the traffic system. If None, defaults to in-game settings.
parked_amount (int | None) – The maximum amount of parked vehicles to spawn. If None, defaults to in-game settings.

Return type

None

start(participants: List[Vehicle]) → None

Enables traffic simulation for the given list of vehicles.

Parameters: participants (List[Vehicle]) – List of vehicles that will be part of the simulation. These vehicles need to be spawned beforehand and the simulation will take control of them.
Return type: None

stop(stop: bool = False) → None

Stops the traffic simulation.

Parameters: stop (bool) – Whether or not to stop the vehicles participating in traffic. If True, vehicles will come to a halt, if False, the AI will simply stop controlling the vehicle.
Return type: None

class beamngpy.api.beamng.UiApi(beamng: BeamNGpy)

Bases: Api

An API allowing the control of the simulator’s GUI - displaying messages and hiding/showing the UI.

Parameters: beamng (BeamNGpy) – An instance of the simulator.

display_message(msg: str) → None

Displays a toast message in the user interface of the simulator.

Parameters: msg (str) – The message to display.
Return type: None

hide_hud() → None

Hides the HUD in the simulator.

Return type: None

show_hud() → None

Shows the HUD in the simulator.

Return type: None

class beamngpy.api.beamng.VehiclesApi(beamng: BeamNGpy)

Bases: Api

An API for vehicle manipulation in the simulator.

Parameters: beamng (BeamNGpy) – An instance of the simulator.

await_spawn(vid: str | beamngpy.vehicle.vehicle.Vehicle) → None

Waits for the vehicle with the given name to spawn and returns once it has.

Parameters: vid (str | beamngpy.vehicle.vehicle.Vehicle) – The name of the vehicle to wait for.
Return type: None

despawn(vehicle: Vehicle) → None

Despawns the given Vehicle from the simulation.

Parameters: vehicle (Vehicle) – The vehicle to despawn.
Return type: None

get_available() → StrDict

Retrieves a dictionary of vehicles known to the simulator that map to various properties of the vehicle and a list of pre-configured vehicle configurations.

Returns: A mapping of model names to vehicle properties & configs.
Raises: BNGError – If the game is not running to accept a request.
Return type: StrDict

get_current(include_config: bool = True) → Dict[str, Vehicle]

Queries the currently active vehicles in the simulator.

Parameters: include_config (bool) – Whether to include info about possible configurations of the vehicles.
Returns: A mapping of vehicle IDs to instances of the Vehicle class for each active vehicle. These vehicles are not connected to by this function.
Return type: Dict[str, Vehicle]

get_current_info(include_config: bool = True) → Dict[str, StrDict]

Queries the currently active vehicles in the simulator.

Parameters: include_config (bool) – Whether to include info about possible configurations of the vehicles.
Returns: A mapping of vehicle IDs to dictionaries of data needed to represent a Vehicle.
Return type: Dict[str, StrDict]

get_part_annotation(part)

get_part_annotations(vehicle: Vehicle)

Parameters: vehicle (Vehicle) –

get_player_vehicle_id() → StrDict

Queries the currently player vehicles in the simulator.

Returns: A dictionary of the active vehicle in simulator from lua. {‘type’: ‘getPlayerVehicleID’, ‘id’: 10455.0, ‘vid’: ‘vehicleA’} then in python, the return will be only an int value of the ‘id’ and vehicle’s name {‘id’: 10455, ‘vid’: ‘vehicleA’} data = bng.vehicles.get_player_vehicle_id() for testing you can use the following: id_value = data[‘id’] vid_value = data[‘vid’]
Return type: StrDict

get_states(vehicles: Iterable[str]) → Dict[str, Dict[str, Float3]]

Gets the states of the vehicles provided as the argument to this function. The returned state includes position, direction vectors and the velocities.

Parameters: vehicles (Iterable[str]) – A list of the vehicle IDs to query state from.
Returns: A mapping of the vehicle IDs to their state stored as a dictionary with [pos, dir, up, vel] keys.
Return type: Dict[str, Dict[str, Float3]]

replace(new_vehicle: Vehicle, old_vehicle: beamngpy.vehicle.vehicle.Vehicle | str | None = None, connect: bool = True) → None

Replaces old_vehicle with new_vehicle in the scenario. The new_vehicle keeps the position and rotation of old_vehicle. If old_vehicle is not provided, then the current player vehicle is replaced by new_vehicle.

Parameters

new_vehicle (Vehicle) – The vehicle to
old_vehicle (beamngpy.vehicle.vehicle.Vehicle | str | None) – The vehicle to be replaced, or its ID, or None if the currently focused vehicle should be replaced.
connect (bool) – Whether to connect the replaced vehicle to BeamNGpy.

Return type

None

set_license_plate(vehicle: str | beamngpy.vehicle.vehicle.Vehicle, text: str) → None

Sets the text of a vehicle’s license plate.

Parameters

vehicle (str | beamngpy.vehicle.vehicle.Vehicle) – The id/name of the vehicle to teleport or the vehicle’s object.
text (str) – The vehicle plate text to be set.

Return type

None

spawn(vehicle: Vehicle, pos: Float3, rot_quat: Quat = (0, 0, 0, 1), cling: bool = True, connect: bool = True) → bool

Spawns the given Vehicle instance in the simulator. This method is meant for spawning vehicles during the simulation. Vehicles that are known to be required before running the simulation should be added during scenario creation instead. Cannot spawn two vehicles with the same id/name.

Parameters

vehicle (Vehicle) – The vehicle to be spawned.
pos (Float3) – Where to spawn the vehicle as a (x, y, z) triplet.
rot_quat (Quat) – Vehicle rotation in form of a quaternion
cling (bool) – If set, the z-coordinate of the vehicle’s position will be set to the ground level at the given position to avoid spawning the vehicle below ground or in the air.
connect (bool) – Whether to connect the newly spawned vehicle to BeamNGpy.

Returns

bool indicating whether the spawn was successful or not

Return type

bool

start_connection(vehicle: Vehicle, extensions: Optional[List[str]]) → StrDict

Parameters

vehicle (Vehicle) –
extensions (Optional[List[str]]) –

Return type

StrDict

switch(vehicle: str | beamngpy.vehicle.vehicle.Vehicle) → None

Switches to the given Vehicle. This means that the simulator’s main camera, inputs by the user, and so on will all focus on that vehicle from now on.

Parameters: vehicle (str | beamngpy.vehicle.vehicle.Vehicle) – The target vehicle.
Return type: None

teleport(vehicle: str | Vehicle, pos: Float3, rot_quat: Quat | None = None, reset: bool = True) → bool

Teleports the given vehicle to the given position with the given rotation.

Parameters

vehicle (str | Vehicle) – The id/name of the vehicle to teleport or the vehicle’s object.
pos (Float3) – The target position as an (x, y, z) tuple containing world-space coordinates.
rot_quat (Quat | None) – Optional tuple (x, y, z, w) specifying vehicle rotation as quaternion.
reset (bool) – Specifies if the vehicle will be reset to its initial state during teleport (including its velocity).

Return type

bool

Vehicle

The vehicle class represents a vehicle of the simulation that can be interacted with from BeamNGpy. This class offers methods to both control the vehicle’s state as well as retrieve information about it through sensors the user can attach to the vehicle.

Creates a vehicle with the given vehicle ID. The ID must be unique within the scenario.

Parameters

vid (str) – The vehicle’s ID.
model (str) – Model of the vehicle.
port (int | None) – The TCP port on which the vehicle should connect. If None, a new port is requested from the simulator.
license (str | None) – The license plate’s text.
color (Color | None) – The primary vehicle color.
color2 (Color | None) – The secondary vehicle color.
color3 (Color | None) – The tertiary vehicle color.
extensions (List[str] | None) – A list of vehicle Lua extensions to load for the vehicle.
part_config (str | None) – The path to the vehicle part configuration (a .pc file).
options (Any) – Other possible vehicle options.

sensors

The sensors attached to the vehicle.

Type: Sensors

ai

The API module to control the AI behavior of the vehicle. See AIApi for details.

Type: AIApi

logging

The API module to control the logging behavior of the vehicle inside the simulator. See LoggingApi for details.

Type: LoggingApi

annotate_parts() → None

Triggers the process to have individual parts of a vehicle have unique annotation colors.

Return type: None

close() → None

Closes this vehicle’s and its sensors’ connection and detaches all sensors.

Return type: None

connect(bng: BeamNGpy) → None

Opens socket communication with the corresponding vehicle.

Parameters: bng (BeamNGpy) – An instance of the simulator.
Return type: None

Sends a control message to the vehicle, setting vehicle inputs accordingly.

Parameters

steering (float | None) – Rotation of the steering wheel, from -1.0 to 1.0.
throttle (float | None) – Intensity of the throttle, from 0.0 to 1.0.
brake (float | None) – Intensity of the brake, from 0.0 to 1.0.
parkingbrake (float | None) – Intensity of the parkingbrake, from 0.0 to 1.0.
clutch (float | None) – Clutch level, from 0.0 to 1.0.
gear (int | None) – Gear to shift to, -1 eq backwards, 0 eq neutral, 1 to X eq nth gear

Return type

None

deflate_tire(wheel_id: int) → None

Deflates the tire of this vehicle with the given wheel ID.

Parameters: wheel_id (int) – The given wheel ID.
Return type: None

disconnect() → None

Closes socket communication with the corresponding vehicle.

Return type: None

static from_dict(d: StrDict) → Vehicle

Parameters: d (StrDict) –
Return type: Vehicle

get_bbox() → Dict[str, Float3]

Returns a vehicle’s current bounding box as a dictionary containing eight points. The bounding box corresponds to the vehicle’s location/rotation in world space, i.e. if the vehicle moves/turns, the bounding box moves accordingly. Note that the bounding box contains the min/max coordinates of the entire vehicle. This means that the vehicle losing a part like a mirror will cause the bounding box to “expand” while the vehicle moves as the mirror is left behind, but still counts as part of the box containing the vehicle.

Returns

The vehicle’s current bounding box as a dictionary of eight points. Points are named following the convention that the cuboid has a “near” rectangle towards the rear of the vehicle and “far” rectangle towards the front. The points are then named like this:

front_bottom_left
Bottom left point of the front rectangle as an (x, y, z) triplet
front_bottom_right
Bottom right point of the front rectangle as an (x, y, z) triplet
front_top_left
Top left point of the front rectangle as an (x, y, z) triplet
front_top_right
Top right point of the front rectangle as an (x, y, z) triplet
rear_bottom_left
Bottom left point of the rear rectangle as an (x, y, z) triplet
rear_bottom_right
Bottom right point of the rear rectangle as an (x, y, z) triplet
rear_top_left
Top left point of the rear rectangle as an (x, y, z) triplet
rear_top_right
Top right point of the rear rectangle as an (x, y, z) triplet

Return type

Dict[str, Float3]

get_center_of_gravity(without_wheels=False) → Float3

Returns the vehicle’s center of gravity.

Parameters: without_wheels – If True, the center of gravity is calculated without the wheels. Defaults to False.
Returns: The center of gravity as a (x, y, z) triplet.
Return type: Float3

get_part_config() → StrDict

Retrieves the current part configuration of the given vehicle. The configuration contains both the current values of adjustable vehicle parameters and a mapping of part types to their currently-selected part.

Returns: The current vehicle configuration as a dictionary.
Return type: StrDict

get_part_options() → StrDict

Retrieves a mapping of part slots for the given vehicle and their possible parts.

Returns: A mapping of part configuration options for the given.
Return type: StrDict

is_connected() → bool

Whether the vehicle is connected to the simulator and can be controlled from Python.

Return type: bool

queue_lua_command(chunk: str) → None

Executes a chunk of Lua code in the vehicle engine VM.

Parameters: chunk (str) – chunk of Lua code as a string
Return type: None

recover() → None

Recovers the vehicle to a drivable position and state and repairs its damage.

Return type: None

revert_annotations() → None

Reverts the given vehicle’s annotations back to the object-based mode, removing the per-part annotations.

Return type: None

set_color(rgba: Color = (1.0, 1.0, 1.0, 1.0)) → None

Sets the color of this vehicle. Colour can be adjusted on the RGB spectrum and the “shininess” of the paint.

Parameters: rgba (Color) – The new colour given as a tuple of RGBA floats, where the alpha channel encodes the shininess of the paint. Also can be given in any format specified in Color.
Return type: None

set_license_plate(text: str) → None

Sets the text of the vehicle’s license plate.

Parameters: text (str) – The vehicle plate text to be set.
Return type: None

Sets the vehicle’s lights to given intensity values. The lighting system features lights that are simply binary on/off, but also ones where the intensity can be varied. Binary lights include:

left_signal

right_signal

hazard_signal

Non-binary lights vary between 0 for off, 1 for on, 2 for higher intensity. For example, headlights can be turned on with 1 and set to be more intense with 2. Non-binary lights include:

headlights

fog_lights

lightbar

Parameters

left_signal (bool | None) – On/off state of the left signal
right_signal (bool | None) – On/off state of the right signal
hazard_signal (bool | None) – On/off state of the hazard lights
headlights (int | None) – Value from 0 to 2 indicating headlight intensity
fog_lights (int | None) – Value from 0 to 2 indicating fog light intensity
lightbar (int | None) – Value from 0 to 2 indicating lightbar intensity

Return type

None

Note

Not every vehicle has every type of light. For example, the lightbar refers to the kind of lights typically found on top of police cars. Setting values for non-existent lights will not cause an error, but also achieve no effect.

Note also that lights are not independent. For example, turning on the hazard lights will make both signal indicators blink, meaning they will be turned on as well. Opposing indicators also turn each other off, i.e. turning on the left signal turns off the right one, and turning on the left signal during

Raises

BNGValueError – If an invalid light value is given.

Returns

Nothing. To query light states, attach an sensors.Electrics sensor and poll it.

Parameters

left_signal (bool | None) –
right_signal (bool | None) –
hazard_signal (bool | None) –
headlights (int | None) –
fog_lights (int | None) –
lightbar (int | None) –

Return type

None

set_part_config(cfg: StrDict) → None

Sets the current part configuration of the given vehicle. The configuration is given as a dictionary containing both adjustable vehicle parameters and a mapping of part types to their selected parts.

Parameters: cfg (StrDict) – The new vehicle configuration as a dictionary.
Return type: None

Notes

Changing parts causes the vehicle to respawn, which repairs it as a side-effect.

set_shift_mode(mode: str) → None

Sets the shifting mode of the vehicle. This changes whether or not and how the vehicle shifts gears depending on the RPM. Available modes are:

realistic_manual
Gears have to be shifted manually by the user, including engaging the clutch.

realistic_manual_auto_clutch
Gears have to be shifted manually by the user, without having to use the clutch.

arcade
Gears shift up and down automatically. If the brake is held, the vehicle automatically shifts into reverse and accelerates backward until brake is released or throttle is engaged.

realistic_automatic
Gears shift up automatically, but reverse and parking need to be shifted to manually.

Parameters: mode (str) – The mode to set. Must be a string from the options listed above.
Raises: BNGValueError – If an invalid mode is given.
Return type: None

set_velocity(velocity: float, dt: float = 1.0) → None

Sets the velocity of this vehicle. The velocity is not achieved instantly, it is acquired gradually over the time interval set by the dt argument.

As the method of setting velocity uses physical forces, at high velocities it is important to set dt to an appropriately high value. The default dt value of 1.0 is suitable for velocities up to 30 m/s.

Parameters

velocity (float) – The target velocity in m/s.
dt (float) – The time interval over which the vehicle reaches the target velocity. Defaults to 1.0.

Return type

None

property state: Dict[str, Float3 | Quat]

This property contains the vehicle’s current state in the running scenario. It is empty if no scenario is running or the state has not been retrieved yet. Otherwise, it contains the following key entries:

pos: The vehicle’s position as an (x, y, z) triplet

dir: The vehicle’s direction vector as an (x, y, z) triplet

up: The vehicle’s up vector as an (x, y, z) triplet

vel: The vehicle’s velocity along each axis in metres per second as an (x, y, z) triplet

rotation: The vehicle’s rotation as an (x, y, z, w) quaternion

Note that the state variable represents a snapshot of the last state. It has to be updated with a call to Sensors.poll() or to Scenario.update().

switch() → None

Switches the simulator to this vehicle. This means that the simulator’s main camera, inputs by the user, and so on will all focus on this vehicle from now on.

Return type: None

teleport(pos: Float3, rot_quat: Quat | None = None, reset: bool = True) → bool

Teleports the vehicle to the given position with the given rotation.

Parameters

pos (Float3) – The target position as an (x,y,z) tuple containing world-space coordinates.
rot_quat (Quat | None) – Optional tuple (x, y, z, w) specifying vehicle rotation as quaternion.
reset (bool) – Specifies if the vehicle will be reset to its initial state during teleport (including its velocity).

Return type

bool

Sensors

class beamngpy.vehicle.Sensors(vehicle: Vehicle)

A sensor collection for a vehicle.

Parameters: vehicle (Vehicle) – The vehicle to which this object instance should belong to.

attach(name: str, sensor: Sensor) → None

Enters a sensor into this vehicle’s map of known sensors and calls the attach-hook of said sensor. The sensor is identified using the given name, which has to be unique among the other sensors of the vehicle.

Parameters

name (str) – The name of the sensor.
sensor (Sensor) – The sensor to attach to the vehicle.

Return type

None

detach(name: str) → None

Detaches a sensor from the vehicle’s map of known sensors and calls the detach-hook of said sensor.

Parameters: name (str) – The name of the sensor to disconnect.
Return type: None

poll(*sensor_names: str) → None

Updates the vehicle’s sensor readings.

Parameters: sensor_names (str) – Names of sensors to poll. If none are provided, then all attached sensors are polled.
Returns: Nothing. Use vehicle.sensors[<sensor_id>][<data_access_id>] to access the polled sensor data.
Return type: None

API

class beamngpy.api.vehicle.AIApi(vehicle: Vehicle)

Bases: VehicleApi

An API class gathering AI-related functionality.

Parameters: vehicle (Vehicle) – An instance of a vehicle object.

drive_in_lane(lane: bool) → None

Sets the drive in lane flag of the AI. If True, the AI only drives within the lane it can legally drive in.

Parameters: lane (bool) – Lane flag to set.
Return type: None

execute_script(script, cling: bool = True, start_delay: float = 0.0, no_reset: bool = False) → None

Parameters

cling (bool) –
start_delay (float) –
no_reset (bool) –

Return type

None

get_initial_spawn_position_orientation(script)

set_aggression(aggr: float) → None

Parameters: aggr (float) –
Return type: None

set_line(line: List[Dict[str, Float3 | float]], cling: bool = True) → None

Makes the AI follow a given polyline. The line is specified as a list of dictionaries where each dictionary has a pos entry specifying the supposed position as an (x, y, z) triplet and a speed entry specifying the speed in m/s.

Parameters

line (List[Dict[str, Float3 | float]]) – Polyline as list of dicts as described above.
cling (bool) – Whether or not to align the z coordinate of the polyline to the ground.

Return type

None

set_mode(mode: str) → None

Sets the desired mode of the simulator’s built-in AI for this vehicle. Possible values are:

disabled: Turn the AI off (default state)

random: Drive from random points to random points on the map

span: Drive along the entire road network of the map

manual: Drive to a specific waypoint, target set separately

chase: Chase a target vehicle, target set separately

flee: Flee from a vehicle, target set separately

stopping: Make the vehicle come to a halt (AI disables itself once the vehicle stopped.)

Note

Some AI methods automatically set appropriate modes, meaning a call to this method might be optional.

Parameters: mode (str) – The AI mode to set.
Return type: None

set_script(script: List[Dict[str, float]], cling: bool = True) → None

Makes the vehicle follow a given “script” – a script being a list of timestamped positions defining where a vehicle should be at what time. This can be used to make the vehicle drive a long a polyline with speed implicitly expressed in the time between points.

Parameters

script (List[Dict[str, float]]) – A list of nodes in the script. Each node is expected to be a dict-like that has x, y, and z entries for the supposed position of the vehicle, and a t entry for the time of the node along the path. Time values are in seconds relative to the time when script playback is started.
cling (bool) – A flag that makes the simulator cling z-coordinates to the ground. Since computing z-coordinates in advance without knowing the level geometry can be cumbersome, this flag is used to automatically set z-coordinates in the script to the ground height. Defaults to True.

Return type

None

Notes

The AI follows the given script the best it can. It cannot drive along scripts that would be physically impossible, e.g. specifying a script with points A & B one kilometer apart and giving it a a second between those points will make the AI drive from A to B as fast as it can, but unlikely to reach it in the given time. Furthermore, if the AI falls behind schedule, it will start skipping points in the script in an effort to make up for lost time.

Raises

BNGValueError – If the script has fewer than three nodes, the minimum length of a script.

Parameters

script (List[Dict[str, float]]) –
cling (bool) –

Return type

None

set_speed(speed: float, mode: str = 'limit') → None

Sets the target speed for the AI in m/s. Speed can be maintained in two modes:

limit: Drive speeds between 0 and the limit, as the AI
sees fit.

set: Try to maintain the given speed at all times.

Parameters

speed (float) – The target speed in m/s.
mode (str) – The speed mode.

Return type

None

set_target(target: str, mode: str = 'chase') → None

Sets the target to chase or flee. The target should be the ID of another vehicle in the simulation. The AI is automatically set to the given mode.

Parameters

target (str) – ID of the target vehicle as a string.
mode (str) – How the target should be treated. chase to chase the target, flee to flee from it.

Return type

None

set_waypoint(waypoint: str) → None

Sets the waypoint the AI should drive to in manual mode. The AI gets automatically set to manual mode when this method is called.

Parameters: waypoint (str) – ID of the target waypoint as a string.
Return type: None

start_recording() → None

Return type: None

stop_recording(filename) → None

Return type: None

class beamngpy.api.vehicle.LoggingApi(vehicle: Vehicle)

Bases: VehicleApi

A base API class from which all the API communicating with a vehicle derive.

Parameters: vehicle (Vehicle) – An instance of a vehicle object.

set_options_from_json(filename: str) → None

Updates the in game logging with the settings specified in the given file/json. The file is expected to be in the following location: <userpath>/<version_number>/<file_name>

Parameters: filename (str) –
Return type: None

start(output_dir: str) → None

Starts in game logging. Beware that any data from previous logging sessions is overwritten in the process.

Parameters: output_dir (str) – to avoid overwriting logging from other vehicles, specify the output directory, overwrites the output_dir set through the json. The data can be found in: <userpath>/<BeamNG version number>/<output_dir>
Return type: None

stop() → None

Stops in game logging.

Return type: None

write_options_to_json(filename: str = 'template.json') → None

Writes all available options from the in-game-logger to a json file. The purpose of this functionality is to facilitate the acquisition of a valid template to adjust the options/settings of the in game logging as needed. Depending on the executable used the file can be found at the following location: <userpath>/<BeamNG version number>/<fileName>

Parameters: filename (str) – not the absolute file path but the name of the json
Return type: None

class beamngpy.api.vehicle.VehicleApi(vehicle: Vehicle)

Bases: object

An API class for in-game logging of vehicle data.

Parameters: vehicle (Vehicle) – An instance of a vehicle object.

Scenario

class beamngpy.Scenario(level: str | beamngpy.scenario.level.Level, name: str, path: str | None = None, human_name: str | None = None, description: str | None = None, difficulty: int = 0, authors: str = 'BeamNGpy', **options: Any)

The scenario class contains information for setting up and executing simulation scenarios along with methods to extract data during their execution.

Instantiates a scenario instance with the given name taking place in the given level.

Parameters

level (str | Level) – Either the name of the level this scenario takes place in as a string or as an instance of Level
name (str) – The name of this scenario. Should be unique for the level it’s taking place in to avoid file collisions.
path (str | None) – The path to an already existing scenario file (relative to the home folder / user folder). If set, then Scenario.make() should not be called, as the scenario is already made.
human_name (str | None) – The human-readable name of the scenario. If None, it will be set to name.
description (str | None) – The description of the scenario displayed in the simulator.
difficulty (int) – The difficulty of the scenario displayed in the simulator.
authors (str) – Names of the authors. Defaults to BeamNGpy.
options (Any) – Other pptions of the scenario object, not used at the moment.

add_checkpoints(positions: List[Float3], scales: List[Float3], ids: Optional[List[str]] = None) → None

Adds checkpoints to the scenario.

Parameters

positions (List[Float3]) – Positions (tuple of length 3) of the individual points.
scales (List[Float3]) – Scales (tuple of length 3) of the individual points
ids (Optional[List[str]]) – Optional, names of the individual points.

Return type

None

add_mesh_road(road: MeshRoad) → None

Adds a MeshRoad to this scenario.

Parameters: road (MeshRoad) – Mesh road to be added to the scenario.
Return type: None

add_object(obj: ScenarioObject) → None

Adds an extra object to be placed in the prefab. Objects are expected to be ScenarioObject instances with additional, type- specific properties in that class’s opts dictionary.

Parameters: obj (ScenarioObject) –
Return type: None

add_procedural_mesh(mesh: ProceduralMesh) → None

Adds a ProceduralMesh to be placed in world to the scenario.

Parameters: mesh (ProceduralMesh) – The mesh to place.
Return type: None

add_road(road: Road) → None

Adds a Road to this scenario.

Parameters: road (Road) – Road to be added to the scenario.
Return type: None

add_vehicle(vehicle: Vehicle, pos: Float3 = (0, 0, 0), rot_quat: Quat = (0, 0, 0, 1), cling: bool = True) → None

Adds a Vehicle: to this scenario at the given position with the given orientation.

Parameters

vehicle (Vehicle) – The vehicle to spawn.
pos (Float3) – (x, y, z) tuple specifying the position of the vehicle.
rot_quat (Quat) – (x, y, z, w) tuple specifying the rotation as quaternion.
cling (bool) – If True, the z-coordinate of the vehicle’s position will be set to the ground level at the given position to avoid spawning the vehicle below ground or in the air.

Return type

None

close() → None

Closes open connections and allocations of the scenario.

Raises: BNGError – If the scenario has not been loaded.
Return type: None

connect(bng: BeamNGpy, connect_player: bool = True, connect_existing: bool = True) → None

Connects this scenario to the simulator.

Parameters

bng (BeamNGpy) – The BeamNGpy instance to generate the scenario for.
connect_player (bool) – Whether the player vehicle should be connected to this (:class:.Scenario) instance. Defaults to True.
connect_existing (bool) – Whether ALL vehicles spawned already in the scenario should be connected to this (:class:.Scenario) instance. Defaults to True.

Return type

None

delete(bng: BeamNGpy) → None

Deletes files created by this scenario from the given BeamNGpy’s home/user path.

Parameters: bng (BeamNGpy) –
Return type: None

find(bng: BeamNGpy) → str | None

Looks for the files of an existing scenario and returns the path to the info file of this scenario, iff one is found.

Parameters: bng (BeamNGpy) – The BeamNGpy instance to look for the scenario in.
Returns: The path to the information file of his scenario found in the simulator as a string. None if it could not be found.
Return type: str | None

find_procedural_meshes() → List[ScenarioObject]

Finds procedural meshes placed in the world right now.

Returns: A list of ScenarioObject containing procedural meshes found in the world.
Raises: BNGError – If the scenario is not currently loaded.
Return type: List[ScenarioObject]

find_static_objects() → List[ScenarioObject]

Finds static objects placed in the world right now.

Returns: A list of ScenarioObject containing statically placed objects found in the world.
Raises: BNGError – If the scenario is not currently loaded.
Return type: List[ScenarioObject]

find_waypoints() → List[ScenarioObject]

Finds waypoints placed in the world right now.

Returns: A list of ScenarioObject containing waypoints found in the world.
Raises: BNGError – If the scenario is not currently loaded.
Return type: List[ScenarioObject]

static from_dict(d: StrDict) → Scenario

Parameters: d (StrDict) –
Return type: Scenario

get_vehicle(vehicle_id: str) → beamngpy.vehicle.vehicle.Vehicle | None

Retrieves the vehicle with the given ID from this scenario.

Parameters: vehicle_id (str) – The ID of the vehicle to find.
Returns: The Vehicle with the given ID. None if it wasn’t found.
Return type: beamngpy.vehicle.vehicle.Vehicle | None

make(bng: BeamNGpy) → None

Generates necessary files to describe the scenario in the simulation and outputs them to the simulator.

Parameters: bng (BeamNGpy) – The BeamNGpy instance to generate the scenario for.
Raises: BNGError – If the scenario already has set its info .json file included.
Return type: None

remove_procedural_mesh(mesh: ProceduralMesh) → None

Removes a ProceduralMesh that was placed in the world.

Parameters: mesh (ProceduralMesh) – The mesh to remove.
Raises: BNGError – If the mesh to remove was not found.
Return type: None

remove_vehicle(vehicle: Vehicle) → None

Removes the given Vehicle: from this scenario. If the scenario is currently loaded, the vehicle will be despawned.

Parameters: vehicle (Vehicle) – The vehicle to remove.
Return type: None

restart() → None

Restarts this scenario. Requires the scenario to be loaded into a running BeamNGpy instance first.

Notes

If any vehicles have been added during the scenario after it has been started, they will be removed as the scenario is reset to its original state.

Raises: BNGError – If the scenario has not been loaded.
Return type: None

scenetree_classes: Dict[str, Callable[[StrDict], SceneObject]] = {'DecalRoad': <function Scenario.<lambda>>, 'MissionGroup': <function Scenario.<lambda>>}

set_initial_focus(vehicle_id: str) → None

Defines which vehicle has the initial focus.

Parameters: vehicle_id (str) – Vehicle id of focused vehicle
Return type: None

sync_scene() → None

Retrieves the current scene tree of the scenario from the simulator, converting them into the most appropriate known (sub)class of SceneObject. The result is not returned but rather stored in the scene field of this class.

Return type: None

update() → None

Synchronizes object states of this scenario with the simulator. This is used to update the Vehicle.state fields of each vehicle in the scenario.

Raises: BNGError – If the scenario is currently not loaded.
Return type: None

class beamngpy.Level(name: str, size: Int2, path: str | None, **props: Any)

Represents a level in the simulator, listing various properties like the level’s name, size, and available scenarios.

Parameters

name (str) –
size (Int2) –
path (str | None) –
props (Any) –

static from_dict(d: StrDict) → Level

Parameters: d (StrDict) –
Return type: Level

class beamngpy.ScenarioObject(oid: str, name: str | None, otype: str, pos: Float3, scale: Float3, rot_quat: Quat | None = None, **options: str)

This class is used to represent objects in the simulator’s environment. It contains basic information like the object type, position, rotation, and scale.

Creates a scenario object with the given parameters.

Parameters

oid (str) – name of the asset
name (str | None) – asset id
otype (str) – type of the object according to the BeamNG classification
pos (Float3) – x, y, and z coordinates
scale (Float3) – defining the scale along the x,y, and z axis.
rot_quat (Quat | None) – Quaternion describing the initial orientation. Defaults to None.
options (str) –

static from_game_dict(d: StrDict) → ScenarioObject

Parameters: d (StrDict) –
Return type: ScenarioObject

remove(bng: BeamNGpy) → None

Parameters: bng (BeamNGpy) –
Return type: None

Procedural Objects

class beamngpy.ProceduralMesh(pos: Float3, name: str, material: str | None, rot_quat: Quat | None = None)

Bases: ScenarioObject

Parameters

pos (Float3) –
name (str) –
material (str | None) –
rot_quat (Quat | None) –

class beamngpy.ProceduralCylinder(pos: Float3, radius: float, height: float, name: str, rot_quat: Quat | None = None, material: str | None = None)

Bases: ProceduralMesh

Creates a procedurally generated cylinder mesh with the given radius and height at the given position and rotation. The material can optionally be specified and a name can be assigned for later identification.

Parameters

pos (Float3) – (X, Y, Z) coordinate triplet specifying the cylinder’s position.
radius (float) – The radius of the cylinder’s base circle.
height (float) – The between top and bottom circles of the cylinder.
name (str) – Name for the mesh. Should be unique.
rot_quat (Quat | None) – Quaternion specifying the cylinder’s rotation
material (str | None) – Optional material name to use as a texture for the mesh.

class beamngpy.ProceduralBump(pos: Float3, width: float, length: float, height: float, upper_length: float, upper_width: float, name: str, rot_quat: Quat | None = None, material: str | None = None)

Bases: ProceduralMesh

Creates a procedurally generated bump with the given properties at the given position and rotation. The material can optionally be specified and a name can be assigned for later identification.

Parameters

pos (Float3) – (X, Y, Z) coordinate triplet specifying the cylinder’s position.
width (float) – The width of the bump, i.e. its size between left and right edges.
length (float) – The length of the bump, i.e. the distances from up and downward slopes.
height (float) – The height of the tip.
upper_length (float) – The length of the tip.
upper_width (float) – The width of the tip.
name (str) – Name for the mesh. Should be unique.
rot_quat (Quat | None) – Quaternion specifying the bump’s rotation
material (str | None) – Optional material name to use as a texture for the mesh.

class beamngpy.ProceduralCone(pos: Float3, radius: float, height: float, name: str, rot_quat: Quat | None = None, material: str | None = None)

Bases: ProceduralMesh

Creates a procedurally generated cone with the given properties at the given position and rotation. The material can optionally be specified and a name can be assigned for later identification.

Parameters

pos (Float3) – (X, Y, Z) coordinate triplet specifying the cylinder’s position.
radius (float) – Radius of the base circle.
height (float) – Distance of the tip to the base circle.
name (str) – Name for the mesh. Should be unique.
rot_quat (Quat | None) – Quaternion specifying the cone’s rotation
material (str | None) – Optional material name to use as a texture for the mesh.

class beamngpy.ProceduralCube(pos: Float3, size: Float3, name: str, rot_quat: Quat | None = None, material: str | None = None)

Bases: ProceduralMesh

Creates a procedurally generated cube with the given properties at the given position and rotation. The material can optionally be specified and a name can be assigned for later identification.

Parameters

pos (Float3) – (X, Y, Z) coordinate triplet specifying the cylinder’s position.
size (Float3) – A triplet specifying the (length, width, height) of the cuboid.
name (str) – Name for the mesh. Should be unique.
rot_quat (Quat | None) – Quaternion specifying the cube’s rotation
material (str | None) – Optional material name to use as a texture for the mesh.

class beamngpy.ProceduralRing(pos: Float3, radius: float, thickness: float, name: str, rot_quat: Quat | None = None, material: str | None = None)

Bases: ProceduralMesh

Creates a procedurally generated ring with the given properties at the given position and rotation. The material can optionally be specified and a name can be assigned for later identification.

Parameters

pos (Float3) – (X, Y, Z) coordinate triplet specifying the cylinder’s position.
radius (float) – Radius of the circle encompassing the ring.
thickness (float) – Thickness of the rim.
name (str) – Name for the mesh. Should be unique.
rot_quat (Quat | None) – Quaternion specifying the ring’s rotation
material (str | None) – Optional material name to use as a texture for the mesh.

Roads

class beamngpy.Road(material: str, rid: str | None = None, interpolate: bool = True, default_width: float = 10.0, drivability: int = 1, one_way: bool = False, flip_direction: bool = False, over_objects: bool = True, looped: bool = False, smoothness: float = 0.5, break_angle: float = 3, texture_length: int = 5, render_priority: int = 10)

This class represents a DecalRoad in the environment. It contains information about the road’s material, direction-ness of lanes, and geometry of the edges that make up the road.

Creates a new road instance using the given material name. The material name needs to match a material that is part of the level in the simulator this road will be placed in.

Parameters

material (str) – Name of the material this road uses. This affects how the road looks visually and needs to match a material that’s part of the level this road is placed in.
rid (str | None) – Optional string setting this road’s name. If specified, needs to be unique with respect to other roads in the level/scenario.
interpolate (bool) – Whether to apply Catmull-Rom spline interpolation to smooth transition between the road’s nodes.
default_width (float) – Default width of the road nodes.
drivability (int) –
one_way (bool) –
flip_direction (bool) –
over_objects (bool) –
looped (bool) –
smoothness (float) –
break_angle (float) –
texture_length (int) –
render_priority (int) –

add_nodes(*nodes: Float3 | Float4) → None

Adds a list of nodes to this decal road.

Parameters: nodes (Float3 | Float4) – List of (x, y, z) or (x, y, z, width) tuples of the road’s nodes.
Return type: None

class beamngpy.MeshRoad(top_material: str, bottom_material: str | None = None, side_material: str | None = None, rid: str | None = None, default_width: float = 10.0, default_depth: float = 5.0, texture_length: float = 5, break_angle: float = 3, width_subdivisions: int = 0)

This class represents a MeshRoad in the environment. It contains information about the road’s materials, direction-ness of lanes, and geometry of the edges that make up the road.

Creates a new road instance using the given material name. The material name needs to match a material that is part of the level in the simulator this road will be placed in.

Parameters

top_material (str) – Name of the material this road uses for the top part. This affects how the road looks visually and needs to match a material that’s part of the level this road is placed in.
bottom_material (str | None) – Name of the material this road uses for the bottom part. Defaults to top_material.
side_material (str | None) – Name of the material this road uses for the side part. Defaults to top_material.
rid (str | None) – Optional string setting this road’s name. If specified, needs to be unique with respect to other roads in the level/scenario.
default_width (float) – Default width of the road nodes.
default_depth (float) – Default depth of the road nodes.
texture_length (float) –
break_angle (float) –
width_subdivisions (int) –

add_nodes(*nodes: Float3 | Float4 | Float5) → None

Adds a list of nodes to this decal road.

Parameters: nodes (Float3 | Float4 | Float5) – List of (x, y, z), (x, y, z, width) or (x, y, z, width, depth) tuples of the road’s nodes.
Return type: None

Sensors

Automated Sensors

Camera

class beamngpy.sensors.Camera(name: str, bng: BeamNGpy, vehicle: Vehicle | None = None, requested_update_time: float = 0.1, update_priority: float = 0.0, pos: Float3 = (0, 0, 3), dir: Float3 = (0, -1, 0), up: Float3 = (0, 0, 1), resolution: Int2 = (512, 512), field_of_view_y: float = 70, near_far_planes: Float2 = (0.05, 100.0), is_using_shared_memory: bool = False, is_render_colours: bool = True, is_render_annotations: bool = True, is_render_instance: bool = False, is_render_depth: bool = True, is_depth_inverted: bool = False, is_visualised: bool = False, is_streaming: bool = False, is_static: bool = False, is_snapping_desired: bool = False, is_force_inside_triangle: bool = False)

An interactive, automated camera sensor, which can produce regular colour images, depth images, or annotation images. This sensor can be attached to a vehicle, or can be fixed to a position in space. The dir and up parameters are used to set the local coordinate system. A requested update rate can be provided, to tell the simulator how often to read measurements for this sensor. If a negative value is provided, the sensor will not update automatically at all. However, ad-hoc polling requests can be sent at any time, even for non-updating sensors.

Parameters

name (str) – A unique name for this camera sensor.
bng (BeamNGpy) – The BeamNGpy instance, with which to communicate to the simulation.
vehicle (Vehicle | None) – The vehicle to which this sensor should be attached, if any.
requested_update_time (float) – The time which should pass between sensor reading updates, in seconds. This is just a suggestion to the manager.
update_priority (float) – The priority which the sensor should ask for new readings. lowest -> 0, highest -> 1.
pos (Float3) – (X, Y, Z) Coordinate triplet specifying the position of the sensor, in world space.
dir (Float3) – (X, Y, Z) Coordinate triplet specifying the forward direction of the sensor.
up (Float3) – (X, Y, Z) Coordinate triplet specifying the up direction of the sensor.
resolution (Int2) – (X, Y) The resolution of the sensor images.
field_of_view_y (float) – The sensor vertical field of view parameters.
near_far_planes (Float2) – (X, Y) The sensor near and far plane distances.
is_using_shared_memory (bool) – A flag which indicates if we should use shared memory to send/recieve the sensor readings data.
is_render_colours (bool) – A flag which indicates if this sensor should render colour data.
is_render_annotations (bool) – A flag which indicates if this sensor should render semantic annotation data.
is_render_instance (bool) – A flag which indicates if this sensor should render instance annotation data.
is_render_depth (bool) – A flag which indicates if this sensor should render depth data.
is_depth_inverted (bool) – A flag which indicates if the depth values should be shown white->black or black->white, as distance increases.
is_visualised (bool) – A flag which indicates if this LiDAR sensor should appear visualised or not.
is_streaming (bool) – Whether or not to stream the data directly to shared memory (no poll required, for efficiency - BeamNGpy won’t block.)
is_static (bool) – A flag which indicates whether this sensor should be static (fixed position), or attached to a vehicle.
is_snapping_desired (bool) – A flag which indicates whether or not to snap the sensor to the nearest vehicle triangle (not used for static sensors).
is_force_inside_triangle (bool) – A flag which indicates if the sensor should be forced inside the nearest vehicle triangle (not used for static sensors).

collect_ad_hoc_poll_request(request_id: int) → StrDict

Collects a previously-issued ad-hoc polling request, if it has been processed.

Parameters: request_id (int) – The unique Id number of the ad-hoc request. This was returned from the simulator upon sending the ad-hoc polling request.
Returns: The readings data.
Return type: StrDict

static draw_bounding_boxes(bounding_boxes: List[StrDict], colour: PIL.Image.Image, width: int = 3, font: str = 'arial.ttf', font_size: int = 14) → PIL.Image.Image

Draws the given list of bounding boxes onto the given image. The boxes are drawn with the given width of outlines in pixels and the given font and size configuration. NOTE: The given image is not directly modified and the boxes are drawn onto a copy.

Parameters

bounding_boxes (List[StrDict]) – List of bounding boxes to draw.
colour (PIL.Image.Image) – The image to draw the bounding boxes on.
width (int) – The width of bounding box outlines in pixels.
font (str) – A string specifying the font which bounding box labels will have.
font_size (int) – The font size used when drawing labels.

Returns

An Image that is a copy of the given image with bounding boxes drawn onto it.

Return type

PIL.Image.Image

Exports the given list of bounding boxes to the Pascal-VOC XML standard. Additional properties to this function correspond to tags in the Pascal-VOC standard.

Parameters

bounding_boxes (List[StrDict]) – The list of bounding boxes to export.
folder (str | None) – Contents of the ‘folder’ tag.
filename (str | None) – Contents of the ‘filename’ tag.
path (str | None) – Contents of the ‘path’ tag.
database (str | None) – Contents of the ‘database’ tag.
size (Int3 | None) – Contents of the ‘size tag. It’s expected to be a tuple of the image width, height, and depth.

Returns

XML string encoding of the given list of bounding boxes according to Pascal-VOC.

Return type

str

static extract_bounding_boxes(semantic_image: PIL.Image.Image, instance_image: PIL.Image.Image, classes: StrDict) → List[StrDict]

Analyzes the given semantic annotation and instance annotation images for its object bounding boxes. The identified objects are returned as a list of dictionaries containing their bounding box corners, class of object according to the corresponding colour in the semantic annotations and the given class mapping, and the colour of the object in the instance annotation.

Parameters

semantic_image (PIL.Image.Image) – The image containing semantic annotation information.
instance_image (PIL.Image.Image) – The image containing instance annotation information.
classes (StrDict) – A mapping of colours to their class names to identify object types based on the semantic annotation information. The keys in this dictionary are the respective colours expressed as a 24-bit integer, i.e. [r * 256^2 + g * 256 + b].

Returns

‘bbox’: [min_x, min_y, max_x, max_y], ‘color’: [233, 11, 15], ‘class’: [‘CAR’], where min_x, min_y, max_x, max_y mark the corners of the bounding box, colour contains the RGB colour of the object in the instance annotations, and class the object type identified through the given class mapping.

Return type

A list of bounding boxes specified as dictionaries. Example

get_direction() → Float3

Gets the current forward direction vector of this sensor.

Returns: The sensor direction.
Return type: Float3

get_full_poll_request() → StrDict

Gets a full camera request (semantic annotation and instance annotation data included). NOTE: this function blocks the simulation until the data request is completed.

Returns: The camera data, as images
Return type: StrDict

get_max_pending_requests() → int

Gets the current ‘max pending requests’ value for this sensor. This is the maximum number of polling requests which can be issued at one time.

Returns: The max pending requests value.
Return type: int

get_position() → Float3

Gets the current world-space position of this sensor.

Returns: The sensor position.
Return type: Float3

get_requested_update_time() → float

Gets the current ‘requested update time’ value for this sensor.

Returns: The requested update time.
Return type: float

get_update_priority() → float

Gets the current ‘update priority’ value for this sensor, in range [0, 1], with priority going 0 –> 1, highest to lowest.

Returns: The update priority value.
Return type: float

is_ad_hoc_poll_request_ready(request_id: int) → bool

Checks if a previously-issued ad-hoc polling request has been processed and is ready to collect.

Parameters: request_id (int) – The unique Id number of the ad-hoc request. This was returned from the simulator upon sending the ad-hoc polling request.
Returns: A flag which indicates if the ad-hoc polling request is complete.
Return type: bool

poll() → Dict[str, Image.Image | None]

Gets the most-recent readings for this sensor as processed images. Note: if this sensor was created with a negative update rate, then there may have been no readings taken.

Returns

A dictionary with the values as processed images and the following keys

colour: The colour data.
annotation: The semantic annotation data.
depth: The depth camera data.

Return type

Dict[str, Image.Image | None]

poll_raw() → Dict[str, bytes | None]

Gets the most-recent readings for this sensor as unprocessed bytes. Note: if this sensor was created with a negative update rate, then there may have been no readings taken.

Returns

A dictionary with values being the unprocessed bytes representing the RGBA data from the sensors and the following keys

colour: The colour data.
annotation: The semantic annotation data.
depth: The depth camera data.

Return type

Dict[str, bytes | None]

poll_shmem_annotation()

poll_shmem_colour()

poll_shmem_depth()

remove() → None

Removes this sensor from the simulation.

Return type: None

send_ad_hoc_poll_request() → int

Sends an ad-hoc polling request to the simulator. This will be executed by the simulator immediately, but will take time to process, so the result can be queried after some time has passed. To check if it has been processed, we first call the is_ad_hoc_poll_request_ready() function, then call the collect_ad_hoc_poll_request() function to retrieve the sensor reading.

Returns: A unique Id number for the ad-hoc request.
Return type: int

set_direction(dir: Float3) → None

Sets the current forward direction vector of this sensor.

Parameters: dir (Float3) – The new forward direction vector.
Return type: None

set_max_pending_requests(max_pending_requests: int) → None

Sets the current ‘max pending requests’ value for this sensor. This is the maximum number of polling requests which can be issued at one time.

Parameters: max_pending_requests (int) – The new max pending requests value.
Return type: None

set_position(pos: Float3) → None

Sets the current world-space position for this sensor.

Parameters: pos (Float3) – The new position.
Return type: None

set_requested_update_time(requested_update_time: float) → None

Sets the current ‘requested update time’ value for this sensor.

Parameters: requested_update_time (float) – The new requested update time.
Return type: None

set_up(up: Float3) → None

Sets the current up vector of this sensor.

Parameters

pos – The new up vector.
up (Float3) –

Return type

None

set_update_priority(update_priority: float) → None

Sets the current ‘update priority’ value for this sensor, in range [0, 1], with priority going 0 –> 1, , highest to lowest.

Parameters: update_priority (float) – The new update priority value.
Return type: None

stream() → Dict[str, Image.Image | None]

Gets the most-recent readings for this sensor as processed images without sending a request to the simulator. Can only be called in the case that the Camera sensor was constructed with is_streaming=True. Note: if this sensor was created with a negative update rate, then there may have been no readings taken.

Returns

A dictionary with the values as processed images and the following keys

colour: The colour data.
annotation: The semantic annotation data.
depth: The depth camera data.

Return type

Dict[str, Image.Image | None]

stream_annotation(size)

stream_colour(size)

stream_depth(size)

stream_raw() → Dict[str, bytes]

Gets the most-recent readings for this sensor as unprocessed bytes without sending a request to the simulator. Can only be called in the case that the Camera sensor was constructed with is_streaming=True. Note: if this sensor was created with a negative update rate, then there may have been no readings taken.

Returns

A dictionary with values being the unprocessed bytes representing the RGBA data from the sensors and the following keys

colour: The colour data.
annotation: The semantic annotation data.
depth: The depth camera data.

Return type

Dict[str, bytes]

world_point_to_pixel(point: Float3) → Int2

Converts a 3D point in world space to the 2D pixel coordinate at which it is represented on this camera. NOTE: The pixel does not have to actually be visible on the camera image itself in order to retrieve a value; it can be obscured by geometry which is closer, or it can be run without respect to the near and far plane values of the camera.

Parameters: point (Float3) – The given 3D point, in world space coordinates.
Returns: The 2D pixel value which represents the given 3D point, on this camera.
Return type: Int2

Lidar

class beamngpy.sensors.Lidar(name: str, bng: BeamNGpy, vehicle: Vehicle | None = None, requested_update_time: float = 0.1, update_priority: float = 0.0, pos: Float3 = (0, 0, 1.7), dir: Float3 = (0, -1, 0), up: Float3 = (0, 0, 1), vertical_resolution: int = 64, vertical_angle: float = 26.9, rays_per_second: float = 2200000, frequency: float = 20, horizontal_angle: float = 360, max_distance: float = 120, is_using_shared_memory: bool = True, is_visualised: bool = True, is_streaming: bool = False, is_annotated: bool = False, is_static: bool = False, is_snapping_desired: bool = False, is_force_inside_triangle: bool = False)

An interactive, automated LiDAR sensor, which produces regular LiDAR point clouds, ready for further processing. This sensor can be attached to a vehicle, or can be fixed to a position in space. The dir and up parameters are used to set the local coordinate system. A requested update rate can be provided, to tell the simulator how often to read measurements for this sensor. If a negative value is provided, the sensor will not update automatically at all. However, ad-hoc polling requests can be sent at any time, even for non-updating sensors.

Parameters

name (str) – A unique name for this LiDAR sensor.
bng (BeamNGpy) – The BeamNGpy instance, with which to communicate to the simulation.
vehicle (Vehicle | None) – The vehicle to which this sensor should be attached, if any.
requested_update_time (float) – The time which should pass between sensor reading updates, in seconds. This is just a suggestion to the manager.
update_priority (float) – The priority which the sensor should ask for new readings. lowest -> 0, highest -> 1.
pos (Float3) – (X, Y, Z) coordinate triplet specifying the position of the sensor, in world space.
dir (Float3) – (X, Y, Z) Coordinate triplet specifying the forward direction of the sensor.
up (Float3) – (X, Y, Z) Coordinate triplet specifying the up direction of the sensor.
vertical_resolution (int) – The vertical resolution of this LiDAR sensor.
vertical_angle (float) – The vertical angle of this LiDAR sensor, in degrees.
rays_per_second (float) – The number of LiDAR rays per second which this sensor should emit.
frequency (float) – The frequency of this LiDAR sensor.
horizontal_angle (float) – The horizontal angle of this LiDAR sensor.
max_distance (float) – The maximum distance which this LiDAR sensor will detect, in metres.
is_using_shared_memory (bool) – A flag which indicates if we should use shared memory to send/recieve the sensor readings data.
is_visualised (bool) – A flag which indicates if this LiDAR sensor should appear visualised or not.
is_streaming (bool) – Whether or not to stream the data directly to shared memory (no poll required, for efficiency - BeamNGpy won’t block.)
is_annotated (bool) – A flag which indicates if this LiDAR sensor should return annotation data instead of distance data.
is_static (bool) – A flag which indicates whether this sensor should be static (fixed position), or attached to a vehicle.
is_snapping_desired (bool) – A flag which indicates whether or not to snap the sensor to the nearest vehicle triangle (not used for static sensors).
is_force_inside_triangle (bool) – A flag which indicates if the sensor should be forced inside the nearest vehicle triangle (not used for static sensors).

collect_ad_hoc_poll_request(request_id: int) → StrDict

Collects a previously-issued ad-hoc polling request, if it has been processed.

Parameters: request_id (int) – The unique Id number of the ad-hoc request. This was returned from the simulator upon sending the ad-hoc polling request.
Returns: A dictionary containing the LiDAR point cloud and colour data.
Return type: StrDict

get_direction() → Float3

Gets the current direction vector of this sensor.

Returns: The sensor direction.
Return type: Float3

get_is_annotated() → bool

Gets a flag which indicates if this LiDAR sensor is annotated or not.

Returns: A flag which indicates if this LiDAR sensor is annotated or not.
Return type: bool

get_is_visualised() → bool

Gets a flag which indicates if this LiDAR sensor is visualised or not.

Returns: A flag which indicates if this LiDAR sensor is visualised or not.
Return type: bool

get_max_pending_requests() → int

Gets the current ‘max pending requests’ value for this sensor. This is the maximum number of polling requests which can be issued at one time.

Returns: The max pending requests value.
Return type: int

get_position() → Float3

Gets the current world-space position of this sensor.

Returns: The sensor position.
Return type: Float3

get_requested_update_time() → float

Gets the current ‘requested update time’ value for this sensor.

Returns: The requested update time.
Return type: float

get_update_priority() → float

Gets the current ‘update priority’ value for this sensor, in range [0, 1], with priority going 0 –> 1, highest to lowest.

Returns: The update priority value.
Return type: float

is_ad_hoc_poll_request_ready(request_id: int) → bool

Checks if a previously-issued ad-hoc polling request has been processed and is ready to collect.

Parameters: request_id (int) – The unique Id number of the ad-hoc request. This was returned from the simulator upon sending the ad-hoc polling request.
Returns: A flag which indicates if the ad-hoc polling request is complete.
Return type: bool

poll() → StrDict

Gets the most-recent readings for this sensor. Note: if this sensor was created with a negative update rate, then there may have been no readings taken.

Returns: The LiDAR point cloud and colour data.
Return type: StrDict

remove() → None

Removes this sensor from the simulation.

Return type: None

send_ad_hoc_poll_request() → int

Sends an ad-hoc polling request to the simulator. This will be executed by the simulator immediately, but will take time to process, so the result can be queried after some time has passed. To check if it has been processed, we first call the is_ad_hoc_poll_request_ready() function, then call the collect_ad_hoc_poll_request() function to retrieve the sensor reading.

Returns: A unique Id number for the ad-hoc request.
Return type: int

set_is_annotated(is_annotated: bool) → None

Sets whether this LiDAR sensor is to be annotated or not. This means it will return annotation data instead of distances.

Parameters: is_annotated (bool) – A flag which indicates if this LiDAR sensor is to be annotated or not.
Return type: None

set_is_visualised(is_visualised: bool) → None

Sets whether this LiDAR sensor is to be visualised or not.

Parameters: is_visualised (bool) – A flag which indicates if this LiDAR sensor is to be visualised or not.
Return type: None

set_max_pending_requests(max_pending_requests: int) → None

Sets the current ‘max pending requests’ value for this sensor. This is the maximum number of polling requests which can be issued at one time.

Parameters: max_pending_requests (int) – The new max pending requests value.
Return type: None

set_requested_update_time(requested_update_time: float) → None

Sets the current ‘requested update time’ value for this sensor.

Parameters

update_priority – The new requested update time.
requested_update_time (float) –

Return type

None

set_update_priority(update_priority: float) → None

Sets the current ‘update priority’ value for this sensor, in range [0, 1], with priority going 0 –> 1, , highest to lowest.

Parameters: update_priority (float) – The new update priority value.
Return type: None

stream() → StrDict

Gets the streamed LiDAR point cloud data from the associated shared memory location.

Returns: The LiDAR point cloud data.
Return type: StrDict

Ultrasonic Sensor

class beamngpy.sensors.Ultrasonic(name: str, bng: BeamNGpy, vehicle: Vehicle | None = None, requested_update_time: float = 0.1, update_priority: float = 0.0, pos: Float3 = (0, 0, 1.7), dir: Float3 = (0, -1, 0), up: Float3 = (0, 0, 1), resolution: Int2 = (200, 200), field_of_view_y: float = 5.7, near_far_planes: Float2 = (0.1, 5.1), range_roundness: float = -1.15, range_cutoff_sensitivity: float = 0.0, range_shape: float = 0.3, range_focus: float = 0.376, range_min_cutoff: float = 0.1, range_direct_max_cutoff: float = 5.0, sensitivity: float = 3.0, fixed_window_size: float = 10, is_visualised: bool = True, is_streaming: bool = False, is_static: bool = False, is_snapping_desired: bool = False, is_force_inside_triangle: bool = False)

An interactive, automated ultrasonic sensor, which produces regular distance measurements, ready for further processing. This sensor can be attached to a vehicle, or can be fixed to a position in space. The dir and up parameters are used to set the local coordinate system. A requested update rate can be provided, to tell the simulator how often to read measurements for this sensor. If a negative value is provided, the sensor will not update automatically at all. However, ad-hoc polling requests can be sent at any time, even for non-updating sensors.

Parameters

name (str) – A unique name for this ultrasonic sensor.
bng (BeamNGpy) – The BeamNGpy instance, with which to communicate to the simulation.
vehicle (Vehicle | None) – The vehicle to which this sensor should be attached, if any.
requested_update_time (float) – The time which should pass between sensor reading updates, in seconds. This is just a suggestion to the manager.
update_priority (float) – The priority which the sensor should ask for new readings. lowest -> 0, highest -> 1.
pos (Float3) – (X, Y, Z) Coordinate triplet specifying the position of the sensor, in world space.
dir (Float3) – (X, Y, Z) Coordinate triplet specifying the forward direction of the sensor.
up (Float3) – (X, Y, Z) Coordinate triplet specifying the up direction of the sensor.
size – (X, Y) The resolution of the sensor (the size of the depth buffer image in the distance measurement computation).
field_of_view_y (float) – The sensor vertical field of view parameters.
near_far_planes (Float2) – (X, Y) The sensor near and far plane distances.
range_roundness (float) – the general roudness of the ultrasonic sensor range-shape. Can be negative.
range_cutoff_sensitivity (float) – a cutoff sensitivity parameter for the ultrasonic sensor range-shape.
range_shape (float) – the shape of the ultrasonic sensor range-shape in [0, 1], from conical to circular.
range_focus (float) – the focus parameter for the ultrasonic sensor range-shape.
range_min_cutoff (float) – the minimum cut-off distance for the ultrasonic sensor range-shape. Nothing closer than this will be detected.
range_direct_max_cutoff (float) – the maximum cut-off distance for the ultrasonic sensor range-shape. This parameter is a hard cutoff - nothing further than this will be detected, although other parameters can also control the max distance.
sensitivity (float) – an ultrasonic sensor sensitivity parameter.
fixed_window_size (float) – an ultrasonic sensor sensitivity parameter.
is_visualised (bool) – Whether or not to render the ultrasonic sensor points in the simulator.
is_streaming (bool) – Whether or not to stream the data directly to shared memory (no poll required, for efficiency - BeamNGpy won’t block.)
is_static (bool) – A flag which indicates whether this sensor should be static (fixed position), or attached to a vehicle.
is_snapping_desired (bool) – A flag which indicates whether or not to snap the sensor to the nearest vehicle triangle (not used for static sensors).
is_force_inside_triangle (bool) – A flag which indicates if the sensor should be forced inside the nearest vehicle triangle (not used for static sensors).
resolution (Int2) –

collect_ad_hoc_poll_request(request_id: int) → StrDict

Collects a previously-issued ad-hoc polling request, if it has been processed.

Parameters: request_id (int) – The unique Id number of the ad-hoc request. This was returned from the simulator upon sending the ad-hoc polling request.
Returns: The readings data.
Return type: StrDict

get_direction() → Float3

Gets the current direction vector of this sensor.

Returns: The sensor direction.
Return type: Float3

get_is_visualised() → bool

Gets a flag which indicates if this ultrasonic sensor is visualised or not.

Returns: A flag which indicates if this ultrasonic sensor is visualised or not.
Return type: bool

get_max_pending_requests() → int

Gets the current ‘max pending requests’ value for this sensor. This is the maximum number of polling requests which can be issued at one time.

Returns: The max pending requests value.
Return type: int

get_position() → Float3

Gets the current world-space position of this sensor.

Returns: The sensor position.
Return type: Float3

get_requested_update_time() → float

Gets the current ‘requested update time’ value for this sensor.

Returns: The requested update time.
Return type: (float)

get_update_priority() → float

Gets the current ‘update priority’ value for this sensor, in range [0, 1], with priority going 0 –> 1, highest to lowest.

Returns: The update priority value.
Return type: float

is_ad_hoc_poll_request_ready(request_id: int) → bool

Checks if a previously-issued ad-hoc polling request has been processed and is ready to collect.

Parameters: request_id (int) – The unique Id number of the ad-hoc request. This was returned from the simulator upon sending the ad-hoc polling request.
Returns: A flag which indicates if the ad-hoc polling request is complete.
Return type: bool

poll() → StrDict

Gets the most-recent readings for this sensor. Note: if this sensor was created with a negative update rate, then there may have been no readings taken.

Returns: A dictionary containing the distance measurement and the window (min and mix values) in which it was computed.
Return type: StrDict

remove(): Removes this sensor from the simulation.

send_ad_hoc_poll_request() → int

Sends an ad-hoc polling request to the simulator. This will be executed by the simulator immediately, but will take time to process, so the result can be queried after some time has passed. To check if it has been processed, we first call the is_ad_hoc_poll_request_ready() function, then call the collect_ad_hoc_poll_request() function to retrieve the sensor reading.

Returns: A unique Id number for the ad-hoc request.
Return type: int

set_is_visualised(is_visualised: bool) → None

Sets whether this ultrasonic sensor is to be visualised or not.

Parameters: is_visualised (bool) – A flag which indicates if this ultrasonic sensor is to be visualised or not.
Return type: None

set_max_pending_requests(max_pending_requests: int) → None

Sets the current ‘max pending requests’ value for this sensor. This is the maximum number of polling requests which can be issued at one time.

Parameters: max_pending_requests (int) – The new max pending requests value.
Return type: None

set_requested_update_time(requested_update_time: float)

Sets the current ‘requested update time’ value for this sensor.

Parameters: requested_update_time (float) – The new requested update time.

set_update_priority(update_priority: float) → None

Sets the current ‘update priority’ value for this sensor, in range [0, 1], with priority going 0 –> 1, , highest to lowest.

Parameters: update_priority (float) – The new update priority
Return type: None

stream()

Gets the latest Ultrasonic distance reading from shared memory (which is being streamed directly).

Returns: The latest Ultrasonic distance reading from shared memory.

Powertrain Sensor

class beamngpy.sensors.PowertrainSensor(name: str, bng: BeamNGpy, vehicle: Vehicle, gfx_update_time: float = 0.0, physics_update_time: float = 0.01, is_send_immediately: bool = False)

An interactive, automated powertrain sensor, which produces regular readings directly from a vehicle’s powertrain. A requested update rate can be provided, to tell the simulator how often to read measurements for this sensor. If a negative value is provided, the sensor will not update automatically at all. However, ad-hoc polling requests can be sent at any time, even for non-updating sensors. We can set this sensor to poll the send data back in two modes: i) immediate mode: data is sent back as soon as it is available (single readings arrive instantly) - this method is suitable when working with tightly-coupled systems requiring fast feedback, or ii) post-processing mode: we can set it to send the data back in bulk on the simulations graphics step - this method is appropriate for the case when the user wishes simply to post-process the data (such as for plotting graphs etc) and is also more efficient. In this case, the returned data will contain all the individual samples which were measured in the simulations physics step, so the data is the same as in mode i); it just arrives later, in bulk.

Parameters

name (str) – A unique name for this powertrain sensor.
bng (BeamNGpy) – The BeamNGpy instance, with which to communicate to the simulation.
vehicle (Vehicle) – The vehicle to which this sensor should be attached. Note: a vehicle must be provided for the powertrain sensor.
gfx_update_time (float) – The gfx-step time which should pass between sensor reading updates to the user, in seconds.
physics_update_time (float) – The physics-step time which should pass between actual sampling the sensor, in seconds.
is_send_immediately (bool) – A flag which indicates if the readings should be sent back as soon as available or upon graphics step updates, as bulk.

collect_ad_hoc_poll_request(request_id: int) → StrDict

Collects a previously-issued ad-hoc polling request, if it has been processed.

Parameters: request_id (int) – The unique Id number of the ad-hoc request. This was returned from the simulator upon sending the ad-hoc polling request.
Returns: The readings data.
Return type: StrDict

is_ad_hoc_poll_request_ready(request_id: int) → bool

Checks if a previously-issued ad-hoc polling request has been processed and is ready to collect.

Parameters: request_id (int) – The unique Id number of the ad-hoc request. This was returned from the simulator upon sending the ad-hoc polling request.
Returns: A flag which indicates if the ad-hoc polling request is complete.
Return type: bool

poll() → StrDict

Gets the most-recent readings for this sensor. Note: if this sensor was created with a negative update rate, then there may have been no readings taken.

Returns: A dictionary containing the sensor readings data.
Return type: StrDict

remove() → None

Removes this sensor from the simulation.

Return type: None

send_ad_hoc_poll_request() → int

Sends an ad-hoc polling request to the simulator. This will be executed by the simulator immediately, but will take time to process, so the result can be queried after some time has passed. To check if it has been processed, we first call the is_ad_hoc_poll_request_ready() function, then call the collect_ad_hoc_poll_request() function to retrieve the sensor reading.

Returns: A unique Id number for the ad-hoc request.
Return type: int

set_requested_update_time(requested_update_time: float) → None

Sets the current ‘requested update time’ value for this sensor.

Parameters: requested_update_time (float) – The new requested update time.
Return type: None

Advanced IMU

class beamngpy.sensors.AdvancedIMU(name: str, bng: BeamNGpy, vehicle: Vehicle, gfx_update_time: float = 0.0, physics_update_time: float = 0.01, pos: Float3 = (0, 0, 1.7), dir: Float3 = (0, -1, 0), up: Float3 = (0, 0, 1), accel_window_width: float | None = None, gyro_window_width: float | None = None, accel_frequency_cutoff: float | None = None, gyro_frequency_cutoff: float | None = None, is_send_immediately: bool = False, is_using_gravity: bool = False, is_visualised: bool = True, is_snapping_desired: bool = False, is_force_inside_triangle: bool = False)

An interactive, automated IMU sensor, which produces regular acceleration and gyroscopic measurements in a local coordinate space. This sensor must be attached to a vehicle; it cannot be fixed to a position in space. The dir and up parameters are used to set the local coordinate system. A requested update rate can be provided, to tell the simulator how often to read measurements for this sensor. If a negative value is provided, the sensor will not update automatically at all. However, ad-hoc polling requests can be sent at any time, even for non-updating sensors.

Parameters

name (str) – A unique name for this advanced IMU sensor.
bng (BeamNGpy) – The BeamNGpy instance, with which to communicate to the simulation.
vehicle (Vehicle) – The vehicle to which this sensor should be attached. Note: a vehicle must be provided for the advanced IMU sensor.
gfx_update_time (float) – The gfx-step time which should pass between sensor reading updates to the user, in seconds.
physics_update_time (float) – The physics-step time which should pass between actual sampling the sensor, in seconds.
pos (Float3) – (X, Y, Z) Coordinate triplet specifying the position of the sensor, in world space.
dir (Float3) – (X, Y, Z) Coordinate triplet specifying the forward direction of the sensor.
up (Float3) – (X, Y, Z) Coordinate triplet specifying the up direction of the sensor.
accel_window_width (float | None) – The width of the window used in smoothing the acceleration data, if required.
accel_frequency_cutoff (float | None) – The filtering cutoff frequency to be used for acceleration (instead of a window width), if required.
gyro_window_width (float | None) – The width of the window used in smoothing the gyroscopic data, if required.
gyro_frequency_cutoff (float | None) – The filtering cutoff frequency to be used for gyroscopic (instead of a window width), if required.
is_send_immediately (bool) – A flag which indicates if the readings should be sent back as soon as available or upon graphics step updates, as bulk.
is_using_gravity (bool) – A flag which indicates whether this sensor should consider acceleration due to gravity in its computations, or not.
is_visualised (bool) – Whether or not to render the ultrasonic sensor points in the simulator.
is_snapping_desired (bool) – A flag which indicates whether or not to snap the sensor to the nearest vehicle triangle.
is_force_inside_triangle (bool) – A flag which indicates if the sensor should be forced inside the nearest vehicle triangle.

collect_ad_hoc_poll_request(request_id: int) → StrDict

Collects a previously-issued ad-hoc polling request, if it has been processed.

Parameters: request_id (int) – The unique Id number of the ad-hoc request. This was returned from the simulator upon sending the ad-hoc polling request.
Returns: The readings data.
Return type: StrDict

is_ad_hoc_poll_request_ready(request_id: int) → bool

Checks if a previously-issued ad-hoc polling request has been processed and is ready to collect.

Parameters: request_id (int) – The unique Id number of the ad-hoc request. This was returned from the simulator upon sending the ad-hoc polling request.
Returns: A flag which indicates if the ad-hoc polling request is complete.
Return type: bool

poll() → StrDict

Gets the most-recent readings for this sensor. Note: if this sensor was created with a negative update rate, then there may have been no readings taken.

Returns: A dictionary containing the sensor readings data.
Return type: StrDict

remove() → None

Removes this sensor from the simulation.

Return type: None

send_ad_hoc_poll_request() → int

Sends an ad-hoc polling request to the simulator. This will be executed by the simulator immediately, but will take time to process, so the result can be queried after some time has passed. To check if it has been processed, we first call the is_ad_hoc_poll_request_ready() function, then call the collect_ad_hoc_poll_request() function to retrieve the sensor reading.

Returns: A unique Id number for the ad-hoc request.
Return type: int

set_is_using_gravity(is_using_gravity: bool) → None

Sets whether this sensor is to include gravity in the computation or not.

Parameters: is_using_gravity (bool) – A flag which indicates if this sensor is to use gravity in the computation or not.
Return type: None

set_is_visualised(is_visualised: bool) → None

Sets whether this sensor is to be visualised or not.

Parameters: is_visualised (bool) – A flag which indicates if this sensor is to be visualised or not.
Return type: None

set_requested_update_time(requested_update_time: float) → None

Sets the current ‘requested update time’ value for this sensor.

Parameters: requested_update_time (float) – The new requested update time.
Return type: None

Radar

class beamngpy.sensors.Radar(name: str, bng: BeamNGpy, vehicle: Vehicle | None = None, requested_update_time: float = 0.1, update_priority: float = 0.0, pos: Float3 = (0, 0, 1.7), dir: Float3 = (0, -1, 0), up: Float3 = (0, 0, 1), range_bins: int = 200, azimuth_bins: int = 200, vel_bins: int = 200, range_min: float = 0.1, range_max: float = 100.0, vel_min: float = -50.0, vel_max: float = 50.0, half_angle_deg: float = 30.0, resolution: Int2 = (200, 200), field_of_view_y: float = 70, near_far_planes: Float2 = (0.1, 150.0), range_roundess: float = -2.0, range_cutoff_sensitivity: float = 0.0, range_shape: float = 0.23, range_focus: float = 0.12, range_min_cutoff: float = 0.5, range_direct_max_cutoff: float = 150.0, is_visualised: bool = True, is_streaming: bool = False, is_static: bool = False, is_snapping_desired: bool = False, is_force_inside_triangle: bool = False)

An interactive, automated RADAR sensor, which produces regular RADAR measurements. This sensor can be attached to a vehicle, or can be fixed to a position in space. The dir and up parameters are used to set the local coordinate system. A requested update rate can be provided, to tell the simulator how often to read measurements for this sensor. If a negative value is provided, the sensor will not update automatically at all. However, ad-hoc polling requests can be sent at any time, even for non-updating sensors.

Parameters

name (str) – A unique name for this RADAR sensor.
bng (BeamNGpy) – The BeamNGpy instance, with which to communicate to the simulation.
vehicle (Vehicle | None) – The vehicle to which this sensor should be attached, if any.
requested_update_time (float) – The time which should pass between sensor reading updates, in seconds. This is just a suggestion to the manager.
update_priority (float) – The priority which the sensor should ask for new readings. lowest -> 0, highest -> 1.
pos (Float3) – (X, Y, Z) Coordinate triplet specifying the position of the sensor, in world space.
dir (Float3) – (X, Y, Z) Coordinate triplet specifying the forward direction of the sensor.
up (Float3) – (X, Y, Z) Coordinate triplet specifying the up direction of the sensor.
range_bins (int) – The number of bins to use in the range dimension, for RADAR post-processing (the images returned from the simulator).
azimuth_bins (int) – The number of bins to use in the azimuth dimension, for RADAR post-processing (PPI plots).
vel_bins (int) – The number of bins to use in the velocity dimension, for RADAR post-processing (range-Doppler plots).
range_min (float) – The minimum range to display in the post-processing.
range_max (float) – The maximum range to display in the post-processing.
vel_min (float) – The minimum velocity to display in the post-processing (range-Doppler images), in m/s.
vel_max (float) – The maximum velocity to display in the post-processing (range-Doppler images), in m/s.
half_angle_deg (float) – On the PPI plot, this is half the azimuthal range (angle between the vertical and cone edge), in degrees.
size – (X, Y) The resolution of the sensor (the size of the depth buffer image in the distance measurement computation).
field_of_view_y (float) – The sensor vertical field of view parameter.
near_far_planes (Float2) – (X, Y) The sensor near and far plane distances.
range_roundness – the general roudness of the RADAR sensor range-shape. Can be negative.
range_cutoff_sensitivity (float) – a cutoff sensitivity parameter for the RADAR sensor range-shape.
range_shape (float) – the shape of the RADAR sensor range-shape in [0, 1], from conical to circular.
range_focus (float) – the focus parameter for the RADAR sensor range-shape.
range_min_cutoff (float) – the minimum cut-off distance for the RADAR sensor range-shape. Nothing closer than this will be detected.
range_direct_max_cutoff (float) – the maximum cut-off distance for the RADAR sensor range-shape. This parameter is a hard cutoff - nothing further than this will be detected, although other parameters can also control the max distance.
is_visualised (bool) – Whether or not to render the RADAR sensor points in the simulator.
is_streaming (bool) – Whether or not to stream the data directly to shared memory (no poll required, for efficiency - BeamNGpy won’t block.)
is_static (bool) – A flag which indicates whether this sensor should be static (fixed position), or attached to a vehicle.
is_snapping_desired (bool) – A flag which indicates whether or not to snap the sensor to the nearest vehicle triangle (not used for static sensors).
is_force_inside_triangle (bool) – A flag which indicates if the sensor should be forced inside the nearest vehicle triangle (not used for static sensors).
resolution (Int2) –
range_roundess (float) –

collect_ad_hoc_poll_request(request_id: int)

Collects a previously-issued ad-hoc polling request, if it has been processed.

Parameters: request_id (int) – The unique Id number of the ad-hoc request. This was returned from the simulator upon sending the ad-hoc polling request.
Returns: The readings data.

get_direction() → Float3

Gets the current direction vector of this sensor.

Returns: The sensor direction.
Return type: Float3

get_max_pending_requests() → int

Gets the current ‘max pending requests’ value for this sensor. This is the maximum number of polling requests which can be issued at one time.

Returns: The max pending requests value.
Return type: int

get_position() → Float3

Gets the current world-space position of this sensor.

Returns: The sensor position.
Return type: Float3

get_ppi()

Gets the latest RADAR PPI (plan position indicator) image from shared memory.

Returns: The latest RADAR PPI (plan position indicator) image from shared memory.

get_range_doppler()

Gets the latest RADAR Range-Doppler image from shared memory.

Returns: The latest RADAR Range-Doppler image from shared memory.

get_requested_update_time() → float

Gets the current ‘requested update time’ value for this sensor.

Returns: The requested update time.
Return type: (float)

get_update_priority() → float

Gets the current ‘update priority’ value for this sensor, in range [0, 1], with priority going 0 –> 1, highest to lowest.

Returns: The update priority value.
Return type: float

is_ad_hoc_poll_request_ready(request_id: int) → bool

Checks if a previously-issued ad-hoc polling request has been processed and is ready to collect.

Parameters: request_id (int) – The unique Id number of the ad-hoc request. This was returned from the simulator upon sending the ad-hoc polling request.
Returns: A flag which indicates if the ad-hoc polling request is complete.
Return type: bool

plot_data(readings_data, resolution, field_of_view_y, range_min, range_max, range_bins: int = 200, azimuth_bins: int = 200)

Plot the RADAR readings data. The data plots are: B-Scope, PPI (Plan Position Indicator), RCS (Radar Cross Section), and SNR (Signal-to-Noise Ratio). The data is used to populate bins, where each bin represents one pixel on the images, and contains a weighted average of the data at that location. If data exists outside of the given distance/angle ranges, it will be snapped to the nearest bin, so this should be avoided by providing accurate limits for these.

Parameters

readings_data – The readings data structure obtained from polling the RADAR sensor.
resolution – (X, Y) The resolution of the sensor (the size of the depth buffer image in the distance measurement computation).
field_of_view_y – The vertical field of view of the RADAR, in degrees.
range_min – The minimum range of the sensor, in metres.
range_max – The maximum range of the sensor, in metres.
range_bins (int) – The number of bins to use for the range dimension, in the data plots.
azimuth_bins (int) – The number of bins to use for the azimuth dimension, in the data plots.

plot_velocity_data(velocity_data, resolution, field_of_view_y, range_min: float = 0.0, range_max: float = 100.0, range_bins: int = 200, azimuth_bins: int = 200)

Plot the RADAR Doppler velocities.

Parameters

velocity_data – The 2D velocity array obtained from the RADAR sensor.
resolution – (X, Y) The resolution of the sensor (the size of the depth buffer image in the distance measurement computation).
field_of_view_y – The vertical field of view of the RADAR, in degrees.
range_min (float) – The minimum range of the sensor, in metres.
range_max (float) – The maximum range of the sensor, in metres.
range_bins (int) – The number of bins to use for the range dimension, in the data plots.
azimuth_bins (int) – The number of bins to use for the azimuth dimension, in the data plots.

poll()

Gets the most-recent raw readings for this RADAR sensor, if they exist. Note: if this sensor was created with a negative update rate, then there may have been no readings taken.

Returns: A 6D point cloud of raw RADAR data, where each entry is (range, doppler velocity, azimuth angle, elevation angle, radar cross section, signal to noise ratio).

remove(): Removes this sensor from the simulation.

send_ad_hoc_poll_request() → int

Sends an ad-hoc polling request to the simulator. This will be executed by the simulator immediately, but will take time to process, so the result can be queried after some time has passed. To check if it has been processed, we first call the is_ad_hoc_poll_request_ready() function, then call the collect_ad_hoc_poll_request() function to retrieve the sensor reading.

Returns: A unique Id number for the ad-hoc request.
Return type: int

set_max_pending_requests(max_pending_requests: int) → None

Sets the current ‘max pending requests’ value for this sensor. This is the maximum number of polling requests which can be issued at one time.

Parameters: max_pending_requests (int) – The new max pending requests value.
Return type: None

set_requested_update_time(requested_update_time: float)

Sets the current ‘requested update time’ value for this sensor.

Parameters: requested_update_time (float) – The new requested update time.

set_update_priority(update_priority: float) → None

Sets the current ‘update priority’ value for this sensor, in range [0, 1], with priority going 0 –> 1, , highest to lowest.

Parameters: update_priority (float) – The new update priority
Return type: None

stream_ppi()

Gets the latest RADAR PPI image from shared memory (which is being streamed directly).

Returns: The latest RADAR PPI image from shared memory.

stream_range_doppler()

Gets the latest RADAR Range-Doppler image from shared memory (which is being streamed directly).

Returns: The latest RADAR Range-Doppler image from shared memory.

Ideal Radar

class beamngpy.sensors.IdealRadar(name: str, bng: BeamNGpy, vehicle: Vehicle, gfx_update_time: float = 0.0, physics_update_time: float = 0.01, is_send_immediately: bool = False)

This automated sensor provides the user with data relating to vehicles within a close proximity to its position. Quantities such as velocity and acceleration are available for these vehicles, in a reference frame local the sensor. These sensors can be attached to any vehicle, or to any fixed point on the map.

Parameters

name (str) – A unique name for this ideal RADAR sensor.
bng (BeamNGpy) – The BeamNGpy instance, with which to communicate to the simulation.
vehicle (Vehicle) – The vehicle to which this sensor should be attached. Note: a vehicle must be provided for the ideal RADAR sensor.
gfx_update_time (float) – The gfx-step time which should pass between sensor reading updates to the user, in seconds.
physics_update_time (float) – The physics-step time which should pass between actual sampling the sensor, in seconds.
is_send_immediately (bool) – A flag which indicates if the readings should be sent back as soon as available or upon graphics step updates, as bulk.

collect_ad_hoc_poll_request(request_id: int) → StrDict

Collects a previously-issued ad-hoc polling request, if it has been processed.

Parameters: request_id (int) – The unique Id number of the ad-hoc request. This was returned from the simulator upon sending the ad-hoc polling request.
Returns: The readings data.
Return type: StrDict

is_ad_hoc_poll_request_ready(request_id: int) → bool

Checks if a previously-issued ad-hoc polling request has been processed and is ready to collect.

Parameters: request_id (int) – The unique Id number of the ad-hoc request. This was returned from the simulator upon sending the ad-hoc polling request.
Returns: A flag which indicates if the ad-hoc polling request is complete.
Return type: bool

poll() → StrDict

Gets the most-recent readings for this sensor. Note: if this sensor was created with a negative update rate, then there may have been no readings taken.

Returns: A dictionary containing the sensor readings data.
Return type: StrDict

remove() → None

Removes this sensor from the simulation.

Return type: None

send_ad_hoc_poll_request() → int

Sends an ad-hoc polling request to the simulator. This will be executed by the simulator immediately, but will take time to process, so the result can be queried after some time has passed. To check if it has been processed, we first call the is_ad_hoc_poll_request_ready() function, then call the collect_ad_hoc_poll_request() function to retrieve the sensor reading.

Returns: A unique Id number for the ad-hoc request.
Return type: int

set_requested_update_time(requested_update_time: float) → None

Sets the current ‘requested update time’ value for this sensor.

Parameters: requested_update_time (float) – The new requested update time.
Return type: None

Mesh Sensor

class beamngpy.sensors.Mesh(name: str, bng: BeamNGpy, vehicle: Vehicle, gfx_update_time: float = 0.0, groups_list=[], is_track_beams=True)

An automated ‘sensor’ to retrieve mesh data in real time.

Parameters

name (str) – A unique name for this mesh sensor.
bng (BeamNGpy) – The BeamNGpy instance, with which to communicate to the simulation.
vehicle (Vehicle) – The vehicle to which this sensor should be attached. Note: a vehicle must be provided for the mesh sensor.
gfx_update_time (float) – The gfx-step time which should pass between sensor reading updates to the user, in seconds.
groups_list – A list of mesh groups which are to be considered. Optional. If empty, we include all mesh nodes/beams.
is_track_beams – A flag which indicates if we should keep updating the beam to node maps. This will track broken beams over time, but is slower.

collect_ad_hoc_poll_request(request_id: int) → StrDict

Collects a previously-issued ad-hoc polling request, if it has been processed.

Parameters: request_id (int) – The unique Id number of the ad-hoc request. This was returned from the simulator upon sending the ad-hoc polling request.
Returns: The readings data.
Return type: StrDict

compute_beam_line_segments()

force_direction_plot(data)

force_distribution_plot(data)

get_node_positions()

is_ad_hoc_poll_request_ready(request_id: int) → bool

Checks if a previously-issued ad-hoc polling request has been processed and is ready to collect.

Parameters: request_id (int) – The unique Id number of the ad-hoc request. This was returned from the simulator upon sending the ad-hoc polling request.
Returns: A flag which indicates if the ad-hoc polling request is complete.
Return type: bool

mass_distribution_plot(data)

mesh_plot()

poll() → StrDict

Gets the most-recent readings for this sensor. Note: if this sensor was created with a negative update rate, then there may have been no readings taken.

Returns: A dictionary containing the sensor readings data.
Return type: StrDict

remove() → None

Removes this sensor from the simulation.

Return type: None

send_ad_hoc_poll_request() → int

Sends an ad-hoc polling request to the simulator. This will be executed by the simulator immediately, but will take time to process, so the result can be queried after some time has passed. To check if it has been processed, we first call the is_ad_hoc_poll_request_ready() function, then call the collect_ad_hoc_poll_request() function to retrieve the sensor reading.

Returns: A unique Id number for the ad-hoc request.
Return type: int

set_requested_update_time(requested_update_time: float) → None

Sets the current ‘requested update time’ value for this sensor.

Parameters: requested_update_time (float) – The new requested update time.
Return type: None

velocity_direction_plot(data)

velocity_distribution_plot(data)

GPS

class beamngpy.sensors.GPS(name: str, bng: BeamNGpy, vehicle: Vehicle, gfx_update_time: float = 0.0, physics_update_time: float = 0.01, pos: Float3 = (0, 0, 1.7), ref_lon: float = 0.0, ref_lat: float = 0.0, is_send_immediately: bool = False, is_visualised: bool = True, is_snapping_desired: bool = False, is_force_inside_triangle: bool = False)

This automated sensor provides GPS readings (position) in spherical coordinates (lattitude, longitude). It can be attached to any point on or relative to the vehicle.

Parameters

name (str) – A unique name for this ideal RADAR sensor.
bng (BeamNGpy) – The BeamNGpy instance, with which to communicate to the simulation.
vehicle (Vehicle) – The vehicle to which this sensor should be attached.
gfx_update_time (float) – The gfx-step time which should pass between sensor reading updates to the user, in seconds.
physics_update_time (float) – The physics-step time which should pass between actual sampling the sensor, in seconds.
ref_lon (float) – A reference longitude value, which tells the sensor where the origin point of the map is on the (longitude, lattitude) system.
ref_lat (float) – A reference lattitude value, which tells the sensor where the origin point of the map is on the (longitude, lattitude) system.
is_send_immediately (bool) – A flag which indicates if the readings should be sent back as soon as available or upon graphics step updates, as bulk.
is_visualised (bool) – Whether or not to render the ultrasonic sensor points in the simulator.
is_snapping_desired (bool) – A flag which indicates whether or not to snap the sensor to the nearest vehicle triangle.
is_force_inside_triangle (bool) – A flag which indicates if the sensor should be forced inside the nearest vehicle triangle.
pos (Float3) –

collect_ad_hoc_poll_request(request_id: int) → StrDict

Collects a previously-issued ad-hoc polling request, if it has been processed.

Parameters: request_id (int) – The unique Id number of the ad-hoc request. This was returned from the simulator upon sending the ad-hoc polling request.
Returns: The readings data.
Return type: StrDict

is_ad_hoc_poll_request_ready(request_id: int) → bool

Checks if a previously-issued ad-hoc polling request has been processed and is ready to collect.

Parameters: request_id (int) – The unique Id number of the ad-hoc request. This was returned from the simulator upon sending the ad-hoc polling request.
Returns: A flag which indicates if the ad-hoc polling request is complete.
Return type: bool

poll() → StrDict

Gets the most-recent readings for this sensor. Note: if this sensor was created with a negative update rate, then there may have been no readings taken.

Returns: A dictionary containing the sensor readings data.
Return type: StrDict

remove() → None

Removes this sensor from the simulation.

Return type: None

send_ad_hoc_poll_request() → int

Sends an ad-hoc polling request to the simulator. This will be executed by the simulator immediately, but will take time to process, so the result can be queried after some time has passed. To check if it has been processed, we first call the is_ad_hoc_poll_request_ready() function, then call the collect_ad_hoc_poll_request() function to retrieve the sensor reading.

Returns: A unique Id number for the ad-hoc request.
Return type: int

set_is_visualised(is_visualised: bool) → None

Sets whether this sensor is to be visualised or not.

Parameters: is_visualised (bool) – A flag which indicates if this sensor is to be visualised or not.
Return type: None

set_requested_update_time(requested_update_time: float) → None

Sets the current ‘requested update time’ value for this sensor.

Parameters: requested_update_time (float) – The new requested update time.
Return type: None

Roads Sensor

class beamngpy.sensors.RoadsSensor(name: str, bng: BeamNGpy, vehicle: Vehicle, gfx_update_time: float = 0.0, physics_update_time: float = 0.01, is_send_immediately: bool = False)

A sensor which gives geometric and semantic data of the road; this data is the parametric cubic equations for the left and right roadedge and the centerline, as well as 4 points of the centerline.

Parameters

name (str) – A unique name for this roads sensor.
bng (BeamNGpy) – The BeamNGpy instance, with which to communicate to the simulation.
vehicle (Vehicle) – The vehicle to which this sensor should be attached. Note: a vehicle must be provided for the roads sensor.
gfx_update_time (float) – The gfx-step time which should pass between sensor reading updates to the user, in seconds.
physics_update_time (float) – The physics-step time which should pass between actual sampling the sensor, in seconds.
is_send_immediately (bool) – A flag which indicates if the readings should be sent back as soon as available or upon graphics step updates, as bulk.

collect_ad_hoc_poll_request(request_id: int) → StrDict

Collects a previously-issued ad-hoc polling request, if it has been processed.

Parameters: request_id (int) – The unique Id number of the ad-hoc request. This was returned from the simulator upon sending the ad-hoc polling request.
Returns: The readings data.
Return type: StrDict

is_ad_hoc_poll_request_ready(request_id: int) → bool

Checks if a previously-issued ad-hoc polling request has been processed and is ready to collect.

Parameters: request_id (int) – The unique Id number of the ad-hoc request. This was returned from the simulator upon sending the ad-hoc polling request.
Returns: A flag which indicates if the ad-hoc polling request is complete.
Return type: bool

poll() → StrDict

Gets the most-recent readings for this sensor. Note: if this sensor was created with a negative update rate, then there may have been no readings taken.

Returns: A dictionary containing the sensor readings data.
Return type: StrDict

remove() → None

Removes this sensor from the simulation.

Return type: None

send_ad_hoc_poll_request() → int

Sends an ad-hoc polling request to the simulator. This will be executed by the simulator immediately, but will take time to process, so the result can be queried after some time has passed. To check if it has been processed, we first call the is_ad_hoc_poll_request_ready() function, then call the collect_ad_hoc_poll_request() function to retrieve the sensor reading.

Returns: A unique Id number for the ad-hoc request.
Return type: int

set_requested_update_time(requested_update_time: float) → None

Sets the current ‘requested update time’ value for this sensor.

Parameters: requested_update_time (float) – The new requested update time.
Return type: None

Classical Sensors

Sensor

class beamngpy.sensors.Sensor

Sensor meta-class declaring methods common to them.

attach(vehicle: Vehicle, name: str) → None

Called when the sensor is attached to a Vehicle instance. Used to perform sensor setup code before the simulation is started. This is called after the sensor has been entered into the vehicle’s map of sensors under the given name.

Parameters

vehicle (Vehicle) – The vehicle instance the sensor is being attached to.
name (str) – The name the sensor is known under to the vehicle.

Return type

None

connect(bng: BeamNGpy, vehicle: Vehicle) → None

Called when the attached vehicle is being initialised in the simulation. This method is used to perform setup code that requires the simulation to be running.

Parameters

bng (BeamNGpy) –
vehicle (Vehicle) –

Return type

None

decode_response(resp: StrDict) → StrDict

Called to do post-processing on sensor data obtained from the simulation. This method is called after raw simulation data is received and the resulting processed data is considered the result of a sensor request.

Parameters: resp (StrDict) –
Return type: StrDict

detach(vehicle: Vehicle, name: str) → None

Called when the sensor is detached from a Vehicle instance. Used to perform sensor teardown code after the simulation is finished. This is called after the sensor has been removed from the vehicle’s map of sensors under the given name.

Parameters

vehicle (Vehicle) – The vehicle instance the sensor is being detached from.
name (str) – The name the sensor was known under to the vehicle.

Return type

None

disconnect(bng: BeamNGpy, vehicle: Vehicle) → None

Called when the attached vehicle is being removed from simulation. This method is used to perform teardown code after the simulation.

Parameters

bng (BeamNGpy) –
vehicle (Vehicle) –

Return type

None

encode_engine_request() → StrDict | None

Called to retrieve this sensor’s data request to the engine as a dictionary. The dictionary returned by this method will be bundled along the vehicle’s other sensors’ requests as a SensorRequest to the simulator’s engine.

Note

Sensors require corresponding code in the simulator to handle requests.

Returns: The request to send to the engine as a dictionary.
Return type: StrDict | None

encode_vehicle_request() → StrDict

Called to retrieve this sensor’s request to the vehicle as a dictionary. The dictionary returned by this method will be bundled along the vehicle’s other sensors’ requests as a SensorRequest to the attached vehicle.

Note

Sensors require corresponding code in the simulator to handle requests.

Returns: The request to send to the vehicle as a dictionary.
Return type: StrDict

State

class beamngpy.sensors.State

Bases: Sensor

The state sensor monitors general stats of the vehicle, such as position, direction, velocity, etc.

It contains the following:

pos: The vehicle’s position as an (x, y, z) triplet
dir: The vehicle’s direction vector as an (x, y, z) triplet
up: The vehicle’s up vector as an (x, y, z) triplet
vel: The vehicle’s velocity along each axis in metres per second as an (x, y, z) triplet
rotation: The vehicle’s rotation as an (x, y, z, w) quaternion

Electrics

class beamngpy.sensors.Electrics

Bases: Sensor

This sensor is used to retrieve various values made available by the car’s eletrics systems. These values include:

# TODO: List all the electrics.lua values. - abs (int): ABS state - abs_active (bool): - airspeed (float): Airspeed - airflowspeed (float): - altitude (float): Z axis position - avg_wheel_av (float): - brake (int): Brake value - brake_lights (int): - brake_input (int): Brake input value - check_engine (bool): Check engine light state. - clutch (int): Clutch value - clutch_input (int): Clutch input value - clutch_ratio (int): - driveshaft (float): Driveshaft - engine_load (float): - engine_throttle (int): Engine throttle state - esc (int): ESC state. 0 = not present/inactive, 1 = disabled, Blink = active - esc_active (bool): - exhaust_flow (float): - fog_lights (int): Fog light state - fuel (float): Percentage of fuel remaining. - fuel_capacity (int): Total Fuel Capacity [L]. - fuel_volume (float): - gear (int): - gear_a (int): Gear selected in automatic mode. - gear_index (int): - gear_m (int): Gear selected in manual mode. - hazard (int): Hazard light state - hazard_signal (bool): - headlights (int): - highbeam (int): High beam state - horn (int): - ignition (bool): Engine state - left_signal (bool): - lightbar (int): Lightbar state - lights (int): General light state. 1 = low, 2 = high - lowbeam (int): Low beam state - lowfuel (bool): Low fuel indicator - lowhighbeam (int): Low-high beam state - lowpressure (int): Low fuel pressure indicator - oil (int): - oil_temperature (float): Oil temperature [C]. - parking (int): Parking lights on/off (not implemented yet) - parkingbrake (float): Parking brake state. 0.5 = halfway on - parkingbrake_input (int): Parking brake input state - radiator_fan_spin (int): - reverse (int): Reverse gear state - right_signal (bool): - rpm (float): Engine RPM - rpmspin (float): - rpm_tacho (float): - running (bool): Engine running state - signal_l (int): Left signal state. 0.5 = halfway to full blink - signal_r (int): Right signal state. 0.5 = halfway to full blink - steering (float): Angle of the steering wheel in degrees. - steering_input (int): Steering input state - tcs (int): TCS state. 0 = not present/inactive, 1 = disabled, Blink = active - tcs_active (bool): - throttle (int): Throttle state - throttle_factor (int): - throttle_input (int): Throttle input state - turnsignal (int): Turn signal value. -1 = Left, 1 = Right, gradually ‘fades’ between values. Use “signal_L” and “signal_R” for flashing indicators. - two_step (bool): - water_temperature (float): Water temperature [C]. - wheelspeed (float): Wheel speed [m/s].

IMU

class beamngpy.sensors.IMU(pos: Float3 | None = None, node: int | None = None, name: str | None = None, debug: bool = False)

Bases: Sensor

An IMU measures forces and rotational acceleration at a certain point on a vehicle. This can be used to analyze forces acting on certain areas of the car (like the driver’s position) or estimate the trajectory of a vehicle from its rotation and acceleration.

Parameters

pos (Float3 | None) –
node (int | None) –
name (str | None) –
debug (bool) –

Timer

class beamngpy.sensors.Timer

Bases: Sensor

The timer sensor keeps track of the time that has passed since the simulation started. It provides that information in seconds relative to the scenario start and does not represent something like a day time or date. It properly handles pausing the simulation, meaning the value of the timer sensor does not progress while the simulation is paused.

When polled, this sensor provides the time in seconds since the start of the scenario in a dictionary under the time key.

Damage

class beamngpy.sensors.Damage

Bases: Sensor

The damage sensor retrieves information about how damaged the structure of the vehicle is. It’s important to realise that this is a sensor that has no analogue in real life as it returns a perfect knowledge overview of how deformed the vehicle is. It’s therefore more of a ground truth than simulated sensor data.

GForces

class beamngpy.sensors.GForces

Bases: Sensor

This sensor is used to obtain the GForces acting on a vehicle.

# TODO: GForce sensor for specific points on/in the vehicle

Logging

exception beamngpy.logging.BNGDisconnectedError: Exception class for BeamNGpy being disconnected when it shouldn’t.

exception beamngpy.logging.BNGError: Generic BeamNG error.

exception beamngpy.logging.BNGValueError: Value error specific to BeamNGpy.

beamngpy.logging.config_logging(handlers: List[Handler], replace: bool = True, level: int = 10, redirect_warnings: bool = True, log_communication: bool = False) → None

Function to configure logging.

Parameters

handlers (List[Handler]) – list of already configured logging.Handler objects
replace (bool) – whether to replace existing list of handlers with new ones or whether to add them, optional
level (int) – log level of the beamngpy logger object, optional. Defaults to logging.DEBUG.
redirect_warnings (bool) – whether to redirect warnings to the logger. Beware that this modifies the warnings settings.
log_communication (bool) – whether to log the BeamNGpy protocol messages between BeamNGpy and BeamNG.tech, optional

Return type

None

beamngpy.logging.create_warning(msg: str, category: Any = None) → None

Helper function for BeamNGpy modules to create warnings.

Parameters

msg (str) – message to be displayed
category (Any) – Category of warning to be issued. See warnings documentation for more details. Defaults to None.

Return type

None

beamngpy.logging.set_up_simple_logging(log_file: str | None = None, redirect_warnings: bool = True, level: int = 20, log_communication: bool = False) → None

Helper function that provides high-level control over beamng logging. For low-level control over the logging system use config_logging(). Sets up logging to sys.stderr and optionally to a given file. Existing log files are moved to <log_file>.1. By default beamngpy logs warnings and errors to sys.stderr, so this function is only of use, if the log output should additionaly be written to a file, or if the log level needs to be adjusted.

Parameters

log_file (str | None) – log filename, optional
redirect_warnings (bool) – Whether to redirect warnings to the logger. Beware that this modifies the warnings settings.
level (int) – log level of handler that is created for the log file. Defaults to logging.INFO.
log_communication (bool) – whether to log the BeamNGpy protocol messages between BeamNGpy and BeamNG.tech, optional

Return type

None

Tools

class beamngpy.tools.OpenDriveExporter

A class for exporting BeamNG road network data to OpenDrive (.xodr) format.

static compute_roads_and_junctions(navigraph_data, path_segments): Computes a collection of individual road sections and junctions, both indexed by a unique Id. This function produces all the relevant data ready to be exported to OpenDrive (.xodr) format.

static export(name, bng)

Exports the road network data to OpenDrive (.xodr) format. The export contains all road sections, some basic lane data, and some junction connectivity data.

Parameters

name – The path/filename at which to save the .xodr file.
bng – The BeamNG instance.

class beamngpy.tools.OpenStreetMapExporter

static export(name, bng)

Exports the road network data to OpenStreetMap (.osm) format. The export contains all road sections, some basic lane data, and some junction connectivity data.

Parameters

name – The path/filename by which to save the .osm file.
bng – The BeamNG instance.

class beamngpy.tools.SumoExporter

static export(name, bng)

Exports the road network data to Sumo (.nod.xml and .edg.xml) format. The export contains all road sections, some basic lane data, and some junction connectivity data. This function will generate both .xml files required to generate the Sumo road network. The user should then type the following into the command prompt: netconvert –node-files=<NAME>.nod.xml –edge-files=<NAME>.edg.xml -o converted.net.xml which will then generate the final road network, which can be loaded with the sumo applications.

Parameters

name – the filename prefix, by which to save the sumo road network (the .nod.xml and .edg.xml extensions will be appended to the end of this name).
bng – The BeamNG instance.

class beamngpy.tools.OpenDriveImporter

static FresnelCS(y)

static GeneralizedFresnelCS(a, b, c)

static add_lateral_offset(roads)

static adjust_elevation(roads, min_elev=5.0)

static combine_geometry_data(lines, arcs, spirals, polys, cubics, elevations, widths, lane_offsets)

static compute_width_sum(s, q, width_data, lane_offset)

static evalClothoid(x0, y0, theta0, kappa, dkappa, s)

static evalXYaLarge(a, b)

static evalXYaSmall(a, b)

static evalXYazero(b)

static extract_road_data(filename)

static get_elevation_profile(s, profiles)

static import_xodr(filename, scenario: Scenario)

Parameters: scenario (Scenario) –

static rLommel(mu, nu, b)

class beamngpy.tools.OpenStreetMapImporter

static extract_road_data(filename)

static import_osm(filename, scenario: Scenario)

Parameters: scenario (Scenario) –

class beamngpy.tools.SumoImporter

static extract_edge_data(filename)

static extract_node_data(filename)

static import_sumo(prefix, scenario: Scenario)

Parameters: scenario (Scenario) –

static remove_duplicate_edges(edges)

Miscellaneous

Colors

beamngpy.misc.colors.coerce_color(color: Color, alpha=0.0) → Float4

Tries to coerce a color to a 4-tuple of floats.

Parameters

color (Color) – A vehicle color.
alpha – The alpha (transparency) value of the color. Defaults to 0.0.

Returns

An (R, G, B, A) tuple of floats.

Return type

Float4

beamngpy.misc.colors.rgba_to_str(color: Float4) → str

Converts an (R, G, B, A) tuple of floats to a string format parsable by BeamNG.

Returns: The converted string of format ‘R G B A’.
Parameters: color (Float4) –
Return type: str

Quaternions

beamngpy.misc.quat.angle_to_quat(angle: Float3) → Quat

Converts an euler angle to a quaternion.

Parameters: angle (Float3) – Euler angle in degrees.
Returns: Quaternion with the order (x, y, z, w) with w representing the real component.
Return type: Quat

beamngpy.misc.quat.compute_rotation_matrix(quat: Quat) → numpy.ndarray

Calculates the rotation matrix for the given quaternion to be used in a scenario prefab.

Parameters: quat (Quat) – Quaternion with the order (x, y, z, w) with w representing the real component.
Returns: The rotation matrix as a NumPy array.
Return type: numpy.ndarray

beamngpy.misc.quat.flip_y_axis(q: Quat) → Quat

Returns a rotation with a flipped y-axis.

Parameters: q (Quat) – Quaternion with the order (x, y, z, w) with w representing the real component.
Returns: The flipped quaternion.
Return type: Quat

beamngpy.misc.quat.normalize(q: Quat) → Quat

Normalizes the given quaternion.

Parameters: q (Quat) – Quaternion with the order (x, y, z, w) with w representing the real component.
Returns: The normalized quaternion.
Return type: Quat

beamngpy.misc.quat.quat_as_rotation_mat_str(quat: Quat, delimiter: str = ' ') → str

For a given quaternion, the function computes the corresponding rotation matrix and converts it into a string.

Parameters

quat (Quat) – Quaternion with the order (x, y, z, w) with w representing the real component.
delimiter (str) – The string with which the elements of the matrix are divided.

Returns

Rotation matrix as a string.

Return type

str

beamngpy.misc.quat.quat_multiply(a: Quat, b: Quat) → Quat

Multiplies two quaternions.

Parameters

a (Quat) – Quaternion with the order (x, y, z, w) with w representing the real component.
b (Quat) – Quaternion with the order (x, y, z, w) with w representing the real component.

Returns

The product of a and b as a quaternion.

Return type

Quat

Vec3

class beamngpy.misc.vec3(x, y, z=0.0)

Bases: object

A class for storing vectors in \(R^3\). Contains functions for operating within that vector space. Can also be used as a vec2 class, since the z component is optional.

cross(b)

The cross product between this vector and a given vector.

Parameters: b – The given vector.
Returns: The cross product between the two vectors (a vector value)

distance(b) → float

The \(L^2\) (Euclidean) distance between this vector and a given vector. AKA the distance formula.

Parameters: b – The given vector.
Returns: The \(L^2\) (Euclidean) distance between the two vectors (a scalar value).
Return type: float

distance_sq(b) → float

The \(L^1\) (squared) distance between this vector and a given vector. AKA the distance formula.

Parameters: b – The given vector.
Returns: The squared distance between the two vectors (a scalar value).
Return type: float

dot(b) → float

The dot product between this vector and a given vector.

Parameters: b – The given vector.
Returns: The dot product between the two vectors (a scalar value).
Return type: float

length() → float

The length (magnitude) of this vector. [ ie \(length := |vector|\) ]

Returns: The length of this vector (a scalar value).
Return type: float

normalize()

Normalizes this vector so that it becomes unit length (\(length = 1\)).

Returns: The normalized vector.

Types

beamngpy.types.Color

Vehicle color. Can be either:

(R, G, B) tuple of floats between 0.0 and 1.0,
(R, G, B, A) tuple of floats between 0.0 and 1.0,
string of format 'R G B', where R, G, and B are floats between 0.0 and 1.0,
string of format 'R G B A', where R, G, B, and A are floats between 0.0 and 1.0,
a common color name (parsable by matplotlib.colors).

alias of Union[Tuple[float, float, float], Tuple[float, float, float, float], str]

beamngpy.types.Float2: alias of Tuple[float, float]

beamngpy.types.Float3: alias of Tuple[float, float, float]

beamngpy.types.Float4: alias of Tuple[float, float, float, float]

beamngpy.types.Float5: alias of Tuple[float, float, float, float, float]

beamngpy.types.Int2: alias of Tuple[int, int]

beamngpy.types.Int3: alias of Tuple[int, int, int]

beamngpy.types.Quat: alias of Tuple[float, float, float, float]

beamngpy.types.StrDict: alias of Dict[str, Any]

Connection

class beamngpy.connection.CommBase(bng: BeamNGpy, vehicle: Vehicle | None)

Communication helper base class to make the socket communication easier to implement for derived classes.

Parameters

bng (BeamNGpy) –
vehicle (Vehicle | None) –

send_ack_ge(type: str, ack: str, **kwargs: Any) → None

Sends a request to the GE Lua with the provided type and data, and receives the acknowledgement.

Parameters

type (str) – Type of the request to send.
ack (str) – Type of the acknowledgement to be received.
kwargs (Any) – The other data being sent.

Returns

The response of the simulator.

Return type

None

send_ack_veh(type: str, ack: str, **kwargs: Any) → None

Sends a request to the Vehicle Lua with the provided type and data, and receives the acknowledgement.

Parameters

type (str) – Type of the request to send.
ack (str) – Type of the acknowledgement to be received.
kwargs (Any) – The other data being sent.

Returns

The response of the simulator.

Return type

None

send_recv_ge(type: str, **kwargs: Any) → StrDict

Sends a request to the GE Lua with the provided type and data, receives the answer and returns it.

Parameters

type (str) – Type of the request to send.
kwargs (Any) – The other data being sent.

Returns

The response of the simulator.

Return type

StrDict

send_recv_veh(type: str, **kwargs: Any) → StrDict

Sends a request to the Vehicle Lua with the provided type and data, receives the answer and returns it.

Parameters

type (str) – Type of the request to send.
kwargs (Any) – The other data being sent.

Returns

The response of the simulator.

Return type

StrDict

class beamngpy.connection.Connection(host: str, port: int | None = None)

The class for handling socket communication between BeamNGpy and the simulator, including establishing connections to both the simulator and to its vehicles individually, and for sending and recieving data across these sockets.

Instantiates an instance of the Connection class, creating an unconnected socket ready to be connected when required.

Parameters

host (str) – The host to connect to.
port (int | None) – The port to connect to.

PROTOCOL_VERSION = 'v1.22'

connect_to_beamng(tries: int = 25, log_tries: bool = True) → bool

Sets the socket of this connection instance and attempts to connect to the simulator over the host and port configuration set in this class. Upon failure, connections are re-attempted a limited amount of times.

Parameters

tries (int) – The number of connection attempts.
log_tries (bool) – True if the connection logs should be propagated to the caller. Defaults to True.

Returns

True if the connection was successful, False otherwise.

Return type

bool

connect_to_vehicle(vehicle: Vehicle, tries: int = 25) → None

Sets the socket of this Connection instance, and attempts to connect it to the given vehicle. Upon failure, connections are re-attempted a limited amount of times.

Parameters

vehicle (Vehicle) – The vehicle instance to be connected.
tries (int) – The number of connection attempts.

Return type

None

disconnect() → None

Closes socket communication for this Connection instance.

Return type: None

hello() → None

First function called after connections. Exchanges the protocol version with the connected simulator and raises an error upon mismatch.

Return type: None

message(req: str, **kwargs: Any) → Any

Generic message function which is parameterized with the type of message to send and all parameters that are to be embedded in the request. Responses are expected to have the same type as the request. If this is not the case, an error is raised.

Parameters

req (str) – The request type.
kwargs (Any) –

Returns

The response received from the simulator as a dictionary.

Return type

Any

recv(req_id: int) → StrDict | BNGError | BNGValueError

Parameters: req_id (int) –
Return type: StrDict | BNGError | BNGValueError

send(data: StrDict) → Response

Encodes the given data using Messagepack and sends the resulting bytes over the socket of this Connection instance. NOTE: messages are prefixed by the message length value.

Parameters: data (StrDict) – The data to encode and send
Return type: Response

class beamngpy.connection.Response(connection: Connection, req_id: int)

Parameters

connection (Connection) –
req_id (int) –

ack(ack_type: str) → None

Parameters: ack_type (str) –
Return type: None

recv(type: str | None = None) → StrDict

Parameters: type (str | None) –
Return type: StrDict