Every feature¶

Features in the current source tree, one line each. Each line links to the page that explains it. What it does not do is on What it does not do.

Run your code¶

Your robot code runs unchanged against fake hardware in a JVM unit test. No robot, no emulator. Installing it
Drop-in starter folder: one folder and one Gradle line, with an example robot whose two tests pass. Installing it
Fixed-tick scenario runner with a deterministic clock: the same run gives the same log. sim
Run an OpMode or LinearOpMode as written through INIT, the loop and STOP, with scripted gamepads. opmode
Telemetry recorded per transmission, including telemetry copied into fields before INIT. opmode
Your unchanged ElapsedTime, sleep, Thread.sleep and System.nanoTime() moved onto sim time. simclock
SimElapsedTime: an SDK ElapsedTime that reads the sim clock, for code that takes a timer. Making your timers sim-safe
Drive the sim live from the keyboard, paced to real time, on Windows, macOS or Linux. The starter includes the keyboard window. sim.live
Stuck or crashing OpModes fail the test with phase, tick and stack, instead of hanging it. opmode

FakeHardwareMap: resolves fakes by config name and files them into the SDK's typed maps. fakehardware
FakeMotor as a DcMotorEx: power, encoder, velocity, current, direction, PIDF. fakehardware
RUN_TO_POSITION, RUN_USING_ENCODER and setVelocity, with the hub's closed loops. RUN_TO_POSITION in the sim
Servos, continuous-rotation servos, external encoders, analog and digital channels, battery voltage. fakehardware
Universal IMU, with physical against declared hub mounting. fakehardware
goBILDA Pinpoint: the SDK 12.0 driver itself, on an emulated register file. fakehardware
SparkFun OTOS: the SDK 12.0 driver itself, on an emulated register file. fakehardware
Limelight 3A: AprilTag results from the tags the robot can see, parsed by the SDK. fakehardware
REV touch, 2m distance and Color Sensor V3 fakes, scripted or driven from the field. fakehardware
Sensors driven from the field: range ray, colour probe, contact switch on a robot mount. sensor
Simulated camera: which pieces and AprilTags are in the image, and where, through a distorted lens, with boxes, the robot body and other pieces in the way. vision
Synthetic camera frames: the scene drawn as RGB pixels for a real VisionProcessor, with ground-truth labels and a PNG writer. Flat colours, not for tuning thresholds. vision

First-order mechanism plants: one or more joints, end stops, gravity. plant
Positional servo plant, and a mecanum drive plant with its pose integrator. plant
Your robot's numbers come in through interfaces you implement; SimLoop never imports your code. config
Game-piece possession: intake trigger volumes, carrying capacity, every transition logged. field
Game pieces that roll, get pushed, bounce, collide and fly a ballistic arc. field
Goals as scoring volumes, optionally descending-only or open on one face. field
Field perimeter and solid obstacles with a height range. field
3-D game-piece contact with kinematic bodies and with each other, with rolling friction. field
Hinged bodies that tip under the pieces' weight, and cells that hold what the physics puts there. field
The robot as a few oriented boxes posed for its mechanisms, and parked robots as solid boxes. field
Robot-against-structure contact: the smallest move that takes the robot back out. field
Seeded random source for field randomness that replays identically. field
One transform between the drivetrain's frame and the field frame. field

Every run writes a PsiKit RLOG that AdvantageScope opens. sim
The runner refuses to return a truncated or incomplete log. sim
Decode an RLOG back to fields, and compare two runs field by field. sim
Live keyboard sessions record a plain-text gamepad track that replays to the identical log. sim.live
Mechanism drawings for AdvantageScope, including a turret with a hood. viz
Articulated robot model: joint values to the component poses a custom robot model draws. viz
Shot arcs: intended against actual, with each shot's miss distance. viz
Game-piece positions logged per kind in 3-D, for the 3D Field tab. field
Camera pose logged so AdvantageScope can look through the sim camera. vision

RunResult: read a finished run back and query any logged value. loop
Objectives, guardrails and a scorer, with UNKNOWN kept apart from a pass. loop
A gate and a loop driver that keep the best candidate and refuse a score that does not reproduce. loop
An agent task loop: an AI agent changes your code, runs the sim headlessly, reads the score from the log, and keeps the change only if it scores better and the score reproduces. loop

A portable AGENTS.md that teaches an agent the library, the complete public API and the rules it gets wrong. Using SimLoop with an AI agent
Works with any coding agent: Cursor, Codex, Gemini CLI, Copilot's coding agent and others read AGENTS.md with no setup. Claude Code is the best-tested route. Which tool
Four skills: write a sim test, add a mechanism, debug a failing sim, review sim code. What is in the folder
Prompts to start from, including one for learning and one for auditing your tests before a competition. What is in the folder
A flat index of these pages for agents. Index for AI agents
Planned, not in this alpha: give an agent your own robot's logs and it tunes the sim to match your robot.

Read numeric columns out of a real robot's RLOG. fit
Fit free speed, time constant and friction to logged power and velocity, with standard errors. fit
Warnings when the data cannot pin the fit down, such as closed-loop logs. fit
A sim-against-robot gap report written beside the log. It changes no constant. fit