Vehicle retains old control inputs after bng.scenario.restart()

[MissMeriel]

I've come across an issue while using BeamNG.tech.v0.27.1.0 with BeamNGpy==1.25.1. If I start a new scenario, I have no problem sending new commands to vehicle.control(throttle, steering, brake). But, if I restart the same scenario, I have noticed that the vehicle ignores what is sent by vehicle.control(throttle, steering, brake) and uses the latest inputs from the end of the previous scenario. This seems to only affect steering, and not throttle or brake. I've included a script that reproduces my issue. On the first run, the vehicle's steering input is close to the steering command of 0 that it is given when it is accelerating. On the second through the fifth runs, the vehicle's steering angle is similar to the last steering command it received in the previous run, ignoring the steering command of 0. Perhaps this can be fixed by a call to the game engine or a different order of function calls to restart the scenario? If so, I haven't found it yet.

import random
import logging
from beamngpy import BeamNGpy, Scenario, Vehicle
from beamngpy.sensors import Damage, Electrics, Timer

def run_scenario(vehicle, bng):
    bng.scenario.restart()
    bng.control.pause()
    kph = 0.
    vehicle.sensors.poll()
    sensors = vehicle.sensors
    while kph < 30 and sensors["damage"]["damage"] <= 1.:
        steering_cmd = 0.
        vehicle.control(throttle=1., steering=steering_cmd, brake=0.)
        bng.control.step(1, wait=True)
        vehicle.sensors.poll()
        sensors = vehicle.sensors
        print(f"Zeroed steering_cmd={steering_cmd:3f}\t\tsteering_input={sensors['electrics']['steering_input']:3f}")
        kph = 3.6 * sensors['electrics']['wheelspeed']
        start_time = sensors['timer']['time']
    while sensors['timer']['time'] - start_time < 5 and sensors["damage"]["damage"] <= 1.:
        throttle = random.uniform(0.0, 1.0)
        steering = random.uniform(-1.0, 1.0)
        vehicle.control(throttle=throttle, steering=steering, brake=0.0)

        bng.control.step(1, wait=True)
        vehicle.sensors.poll()
        sensors = vehicle.sensors
        print(f"Random steering_cmd={steering:3f}\t\tsteering_input={sensors['electrics']['steering_input']:3f}")

def main():
    random.seed(1703)
    # bng = BeamNGpy("localhost", 64256, home='path/to/binary', user='path/to/instance')
    bng = BeamNGpy("localhost", 64256, home='F:/BeamNG.tech.v0.27.1.0', user='C:/Users/Meriel/Documents/BeamNG.tech')
    bng.open(launch=True)
    scenario = Scenario('automation_test_track', 'Evaluator test', description="Ensuring the evaluator can repair any fault")
    vehicle = Vehicle('ego_vehicle', model='etk800', licence='EGO', color="green")
    vehicle.attach_sensor('electrics', Electrics())
    vehicle.attach_sensor('damage', Damage())
    vehicle.attach_sensor('timer', Timer())
    spawn_point = {'pos': (174.92, -289.7, 120.7), 'rot_quat': (0.0, 0.0, 0.7115, 0.7027)}
    scenario.add_vehicle(vehicle, pos=spawn_point['pos'], rot_quat=spawn_point['rot_quat'])
    scenario.make(bng)
    bng.settings.set_deterministic(30)
    bng.scenario.load(scenario)
    bng.scenario.start()
    bng.control.pause()
    for i in range(5):
        run_scenario(vehicle, bng)
    bng.close()

if __name__ == '__main__':
    logging.getLogger('PIL').setLevel(logging.WARNING)
    main()

[aivora-beamng]

Hi, thank you for the report. I can reproduce this bug and we will work on fixing it.