BeamNGpy Reference

BeamNGpy

Vehicle

Sensors

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

Procedural Objects

Roads

Sensors

Automated Sensors

Camera

Lidar

Ultrasonic Sensor

Powertrain Sensor

Advanced IMU

Radar

Ideal Radar

Mesh Sensor

GPS

Roads Sensor

Classical Sensors

Sensor

State

Electrics

IMU

Timer

Damage

GForces

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

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.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 = 'v1.21'

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