Add basic Maplesim support

src/main/java/frc/robot/Robot.java

@@ -6,11 +6,21 @@
 
 import edu.wpi.first.epilogue.Logged;
 import edu.wpi.first.epilogue.logging.FileBackend;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.StructArrayPublisher;
 import edu.wpi.first.epilogue.Epilogue;
 import edu.wpi.first.wpilibj.DataLogManager;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import org.ironmaple.simulation.SimulatedArena;
+import org.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeAlgaeOnField;
+import org.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoral;
+
 import frc.robot.Constants.LoggingConstants;
 
 /**
@@ -24,6 +34,19 @@ public class Robot extends TimedRobot {
 
 	private final RobotContainer m_robotContainer;
 
+	/**
+	 * Used to publish Algae poses from MapleSim.
+	 */
+	private final StructArrayPublisher<Pose3d> algaePoses = NetworkTableInstance.getDefault()
+			.getStructArrayTopic("FieldSimulation/Algae", Pose3d.struct)
+			.publish();
+	/**
+	 * Used to publish Coral poses from MapleSim.
+	 */
+	private final StructArrayPublisher<Pose3d> coralPoses = NetworkTableInstance.getDefault()
+			.getStructArrayTopic("FieldSimulation/Coral", Pose3d.struct)
+			.publish();
+
 	/**
 	 * This function is run when the robot is first started up and should be used for any
 	 * initialization code.
@@ -110,9 +133,24 @@ public void testPeriodic() {}
 
 	/** This function is called once when the robot is first started up. */
 	@Override
-	public void simulationInit() {}
+	public void simulationInit() {
+		// Add game pieces to MapleSim
+		SimulatedArena.getInstance().addGamePiece(new ReefscapeCoral(
+				// We must specify a heading since the coral is a tube
+				new Pose2d(2, 2, Rotation2d.fromDegrees(90))));
+
+		SimulatedArena.getInstance().addGamePiece(new ReefscapeAlgaeOnField(new Translation2d(2, 2)));
+	}
 
 	/** This function is called periodically whilst in simulation. */
 	@Override
-	public void simulationPeriodic() {}
+	public void simulationPeriodic() {
+		SimulatedArena.getInstance().simulationPeriodic();
+
+		// Send game piece locations from MapleSim
+		algaePoses.accept(SimulatedArena.getInstance()
+				.getGamePiecesArrayByType("Algae"));
+		coralPoses.accept(SimulatedArena.getInstance()
+				.getGamePiecesArrayByType("Coral"));
+	}
 }

vendordeps/maple-sim.json

@@ -1,30 +1,26 @@
 {
-    "fileName": "maple-sim.json",
-    "name": "maplesim",
-    "version": "0.2.8",
-    "frcYear": "2025",
-    "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b",
-    "mavenUrls": [
-        "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/repos/releases",
-        "https://repo1.maven.org/maven2"
-    ],
-    "jsonUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json",
-    "javaDependencies": [
-        {
-            "groupId": "org.ironmaple",
-            "artifactId": "maplesim-java",
-            "version": "0.2.8"
-        },
-        {
-            "groupId": "org.dyn4j",
-            "artifactId": "dyn4j",
-            "version": "5.0.2"
-        }
-    ],
-    "jniDependencies": [
-
-    ],
-    "cppDependencies": [
-
-    ]
+	"fileName": "maple-sim.json",
+	"name": "maplesim",
+	"version": "0.3.1",
+	"frcYear": "2025",
+	"uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b",
+	"mavenUrls": [
+		"https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/repos/releases",
+		"https://repo1.maven.org/maven2"
+	],
+	"jsonUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json",
+	"javaDependencies": [
+		{
+			"groupId": "org.ironmaple",
+			"artifactId": "maplesim-java",
+			"version": "0.3.1"
+		},
+		{
+			"groupId": "org.dyn4j",
+			"artifactId": "dyn4j",
+			"version": "5.0.2"
+		}
+	],
+	"jniDependencies": [],
+	"cppDependencies": []
 }