Using a Custom Mover Mesh

By default, movers are a simple box geometry. For more complex shapes, you can specify a custom mesh file or use one of the mesh files supplied by MagBotSim, which were generated from the STEP files provided by the manufacturers of well-known MagLev systems:

• Beckhoff XPlanar Mover Files

  • beckhoff_apm4220_mover

  • beckhoff_apm4330_mover

  • beckhoff_apm4550_mover

• Beckhoff XPlanar Bumper Files

  • beckhoff_apm4220_bumper

  • beckhoff_apm4330_bumper

  • beckhoff_apm4550_bumper

• Planar Motor XBot Files

  • planar_motor_M3-15-SD

  • planar_motor_M3-25-SD

  • planar_motor_M4-11-SD

  • planar_motor_M4-18-SD

  • planar_motor_M4-33-SD

You can optionally specify an STL file for the bumper, which allows the mover body to be rendered in the designated mover color while the bumper remains consistently colored in black.

The example below demonstrates using a predefined mesh. To use your own mesh files, replace the mover_stl_path and (optionally) bumper_stl_path with paths to your local mesh files. If you are not using a separate bumper mesh, you must explicitly set it to None, otherwise the default beckhoff_apm4330_bumper will be used.

import gymnasium as gym
import numpy as np
import magbotsim
gym.register_envs(magbotsim)

env = gym.make(
    'LongHorizonGlobalTrajectoryPlanningEnv-v0',
    layout_tiles=np.ones((3, 3)),
    mover_params={
        'shape': 'mesh',
        'mesh': {
            'mover_stl_path': 'beckhoff_apm4220_mover',
            'bumper_stl_path': 'beckhoff_apm4220_bumper',
            'mass': 0.639 - 0.034, # mover mass (including bumper) - bumper mass
            'bumper_mass': 0.034,
        }
    },
    num_movers=1,
    render_mode='human',
    show_2D_plot=False
)
# render env
env.reset(seed=42)
try:
    while True:
        env.render()
except KeyboardInterrupt:
    pass
env.close()