Elevating FRC Java Robot Simulations to the Next Level with Physics Engines

Why physics engine?

A simulation engine is a powerful tool that provides realistic approximations of physical systems. With maple-sim, we integrate the open-source Java rigid-body dynamics engine, dyn4j, capable of simulating 2D forces and collisions between rigid shapes. This integration transforms the scope of robot simulations by enabling realistic interactions between robots, field elements, and game pieces.

What is maple-sim?

Before maple-sim, most FRC robot simulations focused solely on the robot itself—its sensors, movements, and internal operations. Now, through the power of physics simulation, maple-sim allows your robot to engage directly with its environment. Imagine testing robot interactions with obstacles, field elements, and game pieces, all within the simulated world. A simulation that is realistic enough to feel like a video game.

With this advanced level of simulation, the possibilities are endless. You can:

• Test autonomous modes with pinpoint accuracy.
• Fine-tune advanced TeleOp enhancement features like pathfinding-auto-alignment.
• Optimize shooters and other subsystems, all while gathering meaningful data from simulated physics.

And the best part? You can achieve all of this without needing a real robot on hand.

Getting Started

Getting started with one of our template projects.

Check the online documentation and Javadocs.

Vendor URL:

https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json

🙏 Big thanks to @GrahamSH-LLK for all the help in setting up the online documentation. 🙏 Big thanks to @nstrike for all the help in setting up the Java Docs and VendorDep publishing.

Reporting Bugs, Developing and Contributing

• If you've encountered a bug while using maple-sim in your robot code, please submit an issue and select the "Bug Report" option. We review issues regularly and will respond as quickly as possible.

• If you have an idea for a new feature, please submit an issue and select the "Feature Request" option.

• If you think the API for an existing feature could be improved for better readability or usability, please submit an issue and select the "API Enhancement" option.

• For detailed guidelines on contributing to the project, please refer to the contribution guide.