Changelog#

Pre-Release v1.0.4a0 (2026-04-29)#

General#

  1. The _step_callback of the BasicMagBotSingleAgentEnv now returns the possibly modified action instead of None.

Bug Fixes#

  1. Fix wrong mover bumper mass and corresponding examples in the documentation

  2. Fix wrong gainprm in all RL environments

  3. Ensure correct maximum dynamics of the actions (RL environments). This is fixed by using the _step_callback.

Release v1.0.3 (2026-03-25)#

General#

  1. Fix bug in StateBasedGlobalPushingEnv-v0

  2. Update RL examples

Release v1.0.2 (2026-02-27)#

General#

  1. Add the 6D-Platform MagBot (SixDPlatformMagBotsAPM4330)

  2. Add tutorial on how to add MagBots to custom environments

  3. Add example environments with MagBots (SixDPlatformMagBotApplicationExampleEnv and SixDPlatformMagBotExampleEnv)

Release v1.0.1 (2025-11-24)#

General#

  1. Use MuJoCo functions in MoverImpedanceController instead of scipy.spatial.transform.Rotation (better performance, but scipy.spatial.transform.Rotation is not completely replaced)

  2. Add benchmark environments

  3. Add StateBasedPushXEnv-v0 and StateBasedPushLEnv-v0

  4. Update throughput calculation in pushing environments and update benchmark results accordingly

Release v1.0.0 (2025-11-08)#

General#

  1. Added the basic environments: BasicMagBotEnv, BasicMagBotSingleAgentEnv, BasicMagBotMultiAgentEnv

  2. Added the following example environments for trajectory planning and object manipulation: LongHorizonGlobalTrajectoryPlanningEnv-v0, StateBasedStaticObstaclePushingEnv-v0, StateBasedGlobalPushingEnv-v0, StateBasedPushBoxEnv-v0, StateBasedPushTEnv-v0

  3. Added a MoverImpedanceController that solves a position and orientation task

  4. Added the MujocoOffScreenViewer: an extension of the Gymnasium OffScreenViewer that allows to also specify the groups of geoms to be rendered by the off-screen renderer

  5. Added the MujocoViewerCollection: a manager for all renderers in a MuJoCo environment

  6. Added the Matplotlib2DViewer: a simple viewer that displays the tile and mover configuration together with the mover collision offsets for debugging and analyzing planning tasks

  7. Added auxiliary functions for MuJoCo, collision checking and rotations

  8. Added benchmarks and latest results for trajectory planning and object pushing

  9. Added tutorials and examples on how to use MagBotSim