How to use beamngpy - 10 common examples
To help you get started, we’ve selected a few beamngpy examples, based on popular ways it is used in public projects.
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BeamNG / BeamNGpy / tests / test_sensors.py View on Github 
def test_damage(beamng):
scenario = Scenario('smallgrid', 'damage_test')
dummy = Vehicle('dummy', model='pickup')
scenario.add_vehicle(dummy, pos=(0, 0, 0))
scenario.make(beamng)
vehicle = Vehicle('test_car', model='etk800')
damage = Damage()
vehicle.attach_sensor('damage', damage)
with beamng as bng:
bng.load_scenario(scenario)
bng.start_scenario()
scenario.add_vehicle(vehicle, pos=(0, 0, 32), rot=(-90, 0, 0),
cling=False)
bng.step(600)def test_vehicle_move(beamng):
with beamng as bng:
bng.set_deterministic()
scenario = Scenario('smallgrid', 'move_test')
vehicle = Vehicle('test_car', model='etk800')
scenario.add_vehicle(vehicle, pos=(0, 0, 0), rot=(0, 0, 0))
scenario.make(bng)
bng.load_scenario(scenario)
bng.start_scenario()
bng.pause()
vehicle.control(throttle=1)
bng.step(120)
vehicle.update_vehicle()
assert np.linalg.norm(vehicle.state['pos']) > 1
scenario.delete(beamng)def test_electrics(beamng):
scenario = Scenario('smallgrid', 'electrics_test')
vehicle = Vehicle('test_car', model='etk800')
electrics = Electrics()
vehicle.attach_sensor('electrics', electrics)
scenario.add_vehicle(vehicle, pos=(0, 0, 0))
scenario.make(beamng)
with beamng as bng:
bng.load_scenario(scenario)
bng.start_scenario()
bng.step(120)
vehicle.control(throttle=1.0)
bng.step(360)def test_new_scenario(beamng):
with beamng as bng:
scenario = Scenario('smallgrid', 'test_scenario')
vehicle = Vehicle('test_car', model='etk800')
scenario.add_vehicle(vehicle, pos=(0, 0, 0), rot=(0, 0, 0))
scenario.make(bng)
bng.load_scenario(scenario)
assert bng.get_scenario_name() == 'test_scenario'
scenario.delete(beamng)
with beamng as bng:
with pytest.raises(BNGValueError):
bng.load_scenario(scenario)def test_vehicle_spawn(beamng):
scenario = Scenario('smallgrid', 'spawn_test')
vehicle = Vehicle('irrelevant', model='pickup')
scenario.add_vehicle(vehicle, pos=(0, 0, 0), rot=(0, 0, 0))
scenario.make(beamng)
with beamng as bng:
bng.load_scenario(scenario)
bng.start_scenario()
other = Vehicle('relevant', model='etk800')
scenario.add_vehicle(other, pos=(10, 10, 0), rot=(0, 0, 0))
other.update_vehicle()
assert 'pos' in other.state
bng.step(120)
scenario.remove_vehicle(other)
bng.step(600)
assert other.state is Nonedef test_lidar(beamng):
scenario = Scenario('west_coast_usa', 'lidar_test')
vehicle = Vehicle('test_car', model='etk800')
lidar = Lidar()
vehicle.attach_sensor('lidar', lidar)
scenario.add_vehicle(vehicle, pos=(-717.121, 101, 118.675), rot=(0, 0, 45))
scenario.make(beamng)
with beamng as bng:
bng.load_scenario(scenario)
bng.step(120)
sensors = bng.poll_sensors(vehicle)
arr = sensors['lidar']['points']
ref = arr[0]
eq = arr[np.where(arr == ref)]def test_vehicle_ai(beamng):
with beamng as bng:
bng.set_deterministic()
scenario = Scenario('west_coast_usa', 'ai_test')
vehicle = Vehicle('test_car', model='etk800')
other = Vehicle('other', model='etk800')
pos = [-717.121, 101, 118.675]
scenario.add_vehicle(vehicle, pos=pos, rot=(0, 0, 45))
scenario.add_vehicle(other, pos=(-453, 700, 75), rot=(0, 0, 45))
scenario.make(bng)
bng.load_scenario(scenario)
bng.start_scenario()
bng.pause()
vehicle.ai_set_mode('span')
assert_continued_movement(bng, vehicle, pos)
bng.restart_scenario()
bng.pause()def test_vehicle_spawn(beamng):
scenario = Scenario('smallgrid', 'spawn_test')
vehicle = Vehicle('irrelevant', model='pickup')
scenario.add_vehicle(vehicle, pos=(0, 0, 0), rot=(0, 0, 0))
scenario.make(beamng)
with beamng as bng:
bng.load_scenario(scenario)
bng.start_scenario()
other = Vehicle('relevant', model='etk800')
scenario.add_vehicle(other, pos=(10, 10, 0), rot=(0, 0, 0))
other.update_vehicle()
assert 'pos' in other.state
bng.step(120)
scenario.remove_vehicle(other)
bng.step(600)
assert other.state is Nonedef test_damage(beamng):
scenario = Scenario('smallgrid', 'damage_test')
dummy = Vehicle('dummy', model='pickup')
scenario.add_vehicle(dummy, pos=(0, 0, 0))
scenario.make(beamng)
vehicle = Vehicle('test_car', model='etk800')
damage = Damage()
vehicle.attach_sensor('damage', damage)
with beamng as bng:
bng.load_scenario(scenario)
bng.start_scenario()
scenario.add_vehicle(vehicle, pos=(0, 0, 32), rot=(-90, 0, 0),
cling=False)
bng.step(600)def test_camera(beamng):
scenario = Scenario('west_coast_usa', 'camera_test')
vehicle = Vehicle('test_car', model='etk800')
pos = (-0.3, 1, 1.0)
direction = (0, 1, 0)
fov = 120
resolution = (64, 64)
front_camera = Camera(pos, direction, fov, resolution,
colour=True, depth=True, annotation=True)
vehicle.attach_sensor('front_cam', front_camera)
scenario.add_vehicle(vehicle, pos=(-717.121, 101, 118.675), rot=(0, 0, 45))
scenario.make(beamng)
with beamng as bng:
bng.load_scenario(scenario)
bng.step(120)beamngpy
Python API to interact with BeamNG.tech.
