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Usage Examples

Below we provide two example scripts that display a typical usage of freneticlib. The first one uses an executor featuring a bicycle model (:class:`.BicycleExecutor`), while the second one executes using the BeamNG.tech executor (:class:`.BeamNGExecutor`).

Bicycle Executor Example

.. literalinclude:: ../../example.py
  :language: python

BeamNG.tech Executor Example

Our second example is rather similar to the first one, except that it uses a different simulator. However, to use the BeamNG.tech simulator, we first have to perform some extra steps.

  1. First, request a free researcher license from https://register.beamng.tech.
  2. Then, download and install the BeamNG.tech according to the instructions emailed to you.
  3. Next, download or clone the SBFT 2023 CPS tool competition pipeline, which we use as an interface to BeamNG.tech.
  4. Specify the required arguments cps_pipeline_path, beamng_home and beamng_user in the initialisation of the :class:`.BeamNGExecutor`, like so
BeamNGExecutor(
    representation=...,
    objective=...,
    cps_pipeline_path="~/cps-tool-competition",
    beamng_home="~/Downloads/BeamNG.tech.v0.26.2.0",
    beamng_user="~/BeamNG.tech",
)

The rest of the code is exactly the same as in the :class:`.BicycleExecutor` example.

Note

Currently, we tested frenetic-lib on Windows using BeamNG.tech v0.26.2.0 In case you use it on Linux and/or another version of BeamNG.tech, please share your experience with us.

.. literalinclude:: ../../example_beamng.py
  :language: python