Bevy Simulation

[Fyor]

Current problems still left:

ConfigPlugin has configure_showtime system
which requires an entry in the showtime.toml

Simulating a ball is very difficult, because faking balltracker is difficult and proposals require a lot of vision stuff

[Copilot]

Copilot reviewed 21 out of 23 changed files in this pull request and generated 2 comments.

Files not reviewed (2)

• deploy/assets/motions/standup_back.json: Language not supported
• deploy/assets/motions/standup_stomach.json: Language not supported

[Copilot]

Copilot reviewed 20 out of 22 changed files in this pull request and generated no comments.

Files not reviewed (2)

• deploy/assets/motions/standup_back.json: Language not supported
• deploy/assets/motions/standup_stomach.json: Language not supported

Comments suppressed due to low confidence (3)

yggdrasil/src/core/config/layout.rs:341

• [nitpick] Consider using self.0.len() directly instead of self.0.iter().len() for clarity and potential performance benefits.

pub fn len(&self) -> usize { self.0.iter().len() }

yggdrasil/src/behavior/engine.rs:59

• [nitpick] If the 'choose_ball' system is no longer needed, please remove the commented-out code to keep the codebase clean.

// .add_systems(Update, choose_ball)

tools/simulation/src/robot.rs:176

• [nitpick] The magic number '30.0' (and the factor 0.2 used for translation scaling below) lacks context; consider extracting these values into well-named constants to improve code clarity.

let rotation = UnitComplex::from_angle(step.turn / 30.0);

[Fyor]

@oxkitsune what is this CI error?

 error[E0428]: the name `impl_block` is defined multiple times
Error:    --> /home/runner/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/profiling-procmacros-1.0.16/src/lib.rs:128:1
    |
114 | / fn impl_block(
115 | |     body: &syn::Block,
116 | |     _instrumented_function_name: &str,
117 | | ) -> syn::Block {
...   |
125 | | }
    | |_- previous definition of the value `impl_block` here
...
128 | / fn impl_block(
129 | |     body: &syn::Block,
130 | |     instrumented_function_name: &str,
131 | | ) -> syn::Block {
...   |
140 | | }
    | |_^ `impl_block` redefined here
    |
    = note: `impl_block` must be defined only once in the value namespace of this module

[YukumoHunter]

You have a duplicate

@oxkitsune what is this CI error?

 error[E0428]: the name `impl_block` is defined multiple times
Error:    --> /home/runner/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/profiling-procmacros-1.0.16/src/lib.rs:128:1
    |
114 | / fn impl_block(
115 | |     body: &syn::Block,
116 | |     _instrumented_function_name: &str,
117 | | ) -> syn::Block {
...   |
125 | | }
    | |_- previous definition of the value `impl_block` here
...
128 | / fn impl_block(
129 | |     body: &syn::Block,
130 | |     instrumented_function_name: &str,
131 | | ) -> syn::Block {
...   |
140 | | }
    | |_^ `impl_block` redefined here
    |
    = note: `impl_block` must be defined only once in the value namespace of this module

[Fyor]

You have a duplicate

A duplicate what?

[YukumoHunter]

The function in that crate is defined multiple times, it's a bit hard to find the cause on mobile but it seems like the tracing feature in that crate is mutually exclusive with another other profiling backend (I'm assuming it's tracy since we use both of these in yggdrasil)

You have a duplicate

A duplicate what?

[oxkitsune]

This can live in the simulation crate right? No need to put this in yggdrasil

[Fyor]

cycle::CycleTimePlugin, battery_led::BatteryLedPlugin, center_of_mass::CenterOfMassPlugin and center_of_pressure::CenterOfPressurePlugin are all not available outside the nao crate. Do you want to make these all available just so we can move the sim lola?

[Aemulation]

Or we move yggdrasil/src/nao to crates? Then we can start building support for booster k1.

[Fyor]

@oxkitsune what is this CI error?

 error[E0428]: the name `impl_block` is defined multiple times
Error:    --> /home/runner/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/profiling-procmacros-1.0.16/src/lib.rs:128:1
    |
114 | / fn impl_block(
115 | |     body: &syn::Block,
116 | |     _instrumented_function_name: &str,
117 | | ) -> syn::Block {
...   |
125 | | }
    | |_- previous definition of the value `impl_block` here
...
128 | / fn impl_block(
129 | |     body: &syn::Block,
130 | |     instrumented_function_name: &str,
131 | | ) -> syn::Block {
...   |
140 | | }
    | |_^ `impl_block` redefined here
    |
    = note: `impl_block` must be defined only once in the value namespace of this module

@YukumoHunter @oxkitsune ?

[YukumoHunter]

can you try rebasing on main

[Fyor]

can you try rebasing on main

Didn't work 🙃

[oxkitsune]

Okay, I'll have a look at the CI issue tonight.

I think we should definitely wait until #457 is merged, and ALSO bevy 0.16 is around the corner, which will maybe be nice to implement in here as well.