Vision and field positioning has been very troublesome for our team, and usually because we don't have a practice robot/camera free when we want to play with it. I wanted to see if I could simulate the vision environment so I could dabble with it at home.

• YAGSL for drivebase/field simulation.
  • YAGSL also uses MapleSim to do field physics simulation.
• PhotoVision's VisionSystemSim, which simulated what the cameras can see on the field.

(note: field is showing 2025 AprilTag layout, because the 2026 layout wasn't available yet in WPILib).

• Simulate pose estimation from the cameras.
• An example of a mix of PV cameras, and Limelights.