Code Sim Improvements `[SYNTH-255]` & `[SYNTH-260]` by PepperLola · Pull Request #1476 · Autodesk/synthesis

PepperLola · 2026-08-04T22:15:10Z

Code Sim Improvements

Task

Symptom

Many sim devices weren't showing up in the wiring panel and needed to be hardcoded in Fission. It was also possible to connect any node to another node as long as their arity was the same, meaning you could connect a Fission accelerometer to a Java gyro and it would feed the data correctly even though that shouldn't be allowed.

Solution

Migrated the Chassis stimulus to individual Gyro and Accel ones that show up in the wiring panel. Also changed the Nora type system to include the purpose of the node (e.g., gyro, accel, etc.). The node colors are also dynamically calculated based on the hash of the serialized type so we don't need to remember to add new ones.

Verification

Created gyros and accelerometers in the code and simulator and verified that the data shows up in the Java simulator only when wired properly.

Before merging, ensure the following criteria are met:

All acceptance criteria outlined in the ticket are met.
Necessary test cases have been added and updated.
A feature toggle or safe disable path has been added (if applicable).
User-facing polish:
- Ask: "Is this ready-looking?"
Cross-linking between Jira and GitHub:
- PR links to the relevant Jira issue.
- Jira ticket has a comment referencing this PR.

added a generic type for maintainability, and now differentiate between purposes for nora types (e.g., now have gyro nora 6 and accel nora 6) so that you can't connect gyro data to an accel input

Copilot

Pull request overview

This PR improves the code simulation sensor workflow by adding an in-assembly “Sensors” configuration UI (to place gyro/accelerometer stimuli on robot nodes) and tightening wiring compatibility by introducing purpose-specific Nora types (e.g., GYRO, ACCEL) so same-arity signals are no longer universally interchangeable.

Changes:

Adds a new Assembly Config “Sensors” panel to create/edit/delete sensors and place them via a transform gizmo.
Replaces the old chassis stimulus with dedicated GyroStimulus and AccelStimulus, and updates WPILib receiver typing to purpose-specific Nora types.
Updates wiring UI type colors to be dynamically derived from Nora type strings, and removes unused RoboRIO device config modals.

Reviewed changes

Copilot reviewed 27 out of 27 changed files in this pull request and generated 4 comments.

Show a summary per file

File	Description
fission/src/ui/panels/configuring/assembly-config/interfaces/sensors/SensorConfigInterface.tsx	New sensor editing UI (name/type/device/parent node + gizmo placement).
fission/src/ui/panels/configuring/assembly-config/interfaces/sensors/ManageSensorsInterface.tsx	New sensor list management UI (add/edit/delete + persistence).
fission/src/ui/panels/configuring/assembly-config/interfaces/sensors/ConfigureSensorsInterface.tsx	New subpanel wrapper for managing vs. editing a single sensor.
fission/src/ui/panels/configuring/assembly-config/ConfigurePanel.tsx	Registers the new Sensors config mode/panel.
fission/src/ui/panels/configuring/assembly-config/ConfigTypes.ts	Adds `ConfigMode.SENSORS` and its selection option text.
fission/src/ui/modals/configuring/RoboRIOModal.tsx	Deletes obsolete/placeholder RoboRIO modal.
fission/src/ui/modals/configuring/rio-config/RCCreateDeviceModal.tsx	Deletes obsolete device-creation modal flow.
fission/src/ui/modals/configuring/rio-config/RCConfigPWMGroupModal.tsx	Deletes obsolete PWM group config modal.
fission/src/ui/modals/configuring/rio-config/RCConfigEncoderModal.tsx	Deletes obsolete encoder config modal.
fission/src/ui/modals/configuring/rio-config/RCConfigCANGroupModal.tsx	Deletes obsolete CAN group config modal.
fission/src/test/PreferencesSystem.test.ts	Updates robot preferences test fixtures to include `sensors: []`.
fission/src/systems/simulation/wpilib_brain/WPILibState.ts	Updates receiver typing for gyro/accel to new Nora purpose types.
fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts	Removes hardcoded sim IO defaults and updates enable/disable behavior.
fission/src/systems/simulation/wpilib_brain/sim/SimGyro.ts	Switches receiver value typing to `NoraValue<6>` and removes old SimInput implementation.
fission/src/systems/simulation/wpilib_brain/sim/SimCANEncoder.ts	Switches receiver value typing to `NoraValue<2>`.
fission/src/systems/simulation/wpilib_brain/sim/SimAccel.ts	Switches receiver value typing to `NoraValue<6>` and removes old SimInput implementation.
fission/src/systems/simulation/stimulus/WheelStimulus.ts	Switches supplier value typing to `NoraValue<2>`.
fission/src/systems/simulation/stimulus/Stimulus.ts	Replaces chassis accel stimulus enum with dedicated accel/gyro stimulus types.
fission/src/systems/simulation/stimulus/SliderStimulus.ts	Switches supplier value typing to `NoraValue<2>`.
fission/src/systems/simulation/stimulus/HingeStimulus.ts	Switches supplier value typing to `NoraValue<2>`.
fission/src/systems/simulation/stimulus/GyroStimulus.ts	Adds new gyro stimulus implementation (mount frame + integration + supplier value).
fission/src/systems/simulation/stimulus/ChassisStimulus.ts	Deletes the old chassis stimulus implementation.
fission/src/systems/simulation/stimulus/AccelStimulus.ts	Adds new accelerometer stimulus implementation (mount point kinematics + specific force).
fission/src/systems/simulation/SimulationSystem.ts	Builds and refreshes per-sensor gyro/accel stimuli based on robot preferences.
fission/src/systems/simulation/SimConfigShared.ts	Adds gyro device handles, adjusts accel handles, and replaces static Nora color map with dynamic generation.
fission/src/systems/simulation/Nora.ts	Adds purpose-specific NoraTypes and introduces `NoraValue<N>` generic tuple typing.
fission/src/systems/preferences/PreferenceTypes.ts	Adds `SensorPreferences` and wires it into `RobotPreferences` defaults.

Suppressed comments (2)

fission/src/systems/simulation/SimConfigShared.ts:342

Accel device handles are created from all getAccelDevices() entries but are always marked enabled: true. If the sim map contains entries that haven’t been initialized (<init> false), they’ll still show up as connectable targets, unlike CAN/PWM devices which are filtered/gated by <init>.

This issue also appears on line 355 of the same file.

        getAccelDevices().forEach(([id]) => {
            const handle: HandleInfo = {
                id: "",
                nodeId: NODE_ID_ROBOT_IO,
                noraType: receiverTypeMap[SimType.ACCELEROMETER]!,

fission/src/systems/simulation/SimConfigShared.ts:359

Gyro device handles are created from all getGyroDevices() entries but are always marked enabled: true. This can surface uninitialized (<init> false) gyro devices as connectable targets in the wiring UI.

        getGyroDevices().forEach(([id]) => {
            const handle: HandleInfo = {
                id: "",
                nodeId: NODE_ID_ROBOT_IO,
                noraType: receiverTypeMap[SimType.GYRO]!,

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…esim

Copilot

Pull request overview

Copilot reviewed 56 out of 57 changed files in this pull request and generated 1 comment.

Suppressed comments (4)

fission/src/systems/simulation/SimulationSystem.ts:130

guid is derived from sensor.name, so duplicate sensor names will collide and later sensors will overwrite earlier ones in _stimuli (keyed by the GUID). Consider incorporating a stable unique component (index/device/UUID persisted in preferences) so each sensor gets a distinct stimulus ID.

            const guid = `SENSOR_${sensor.name}_GUID`
            const info = { GUID: guid, name: sensor.name }

fission/src/systems/simulation/wiring/NodeKinds.tsx:77

Leftover console.log in the junction node supplier will spam logs during compilation / graph evaluation. This should be removed (or guarded behind a debug flag) to avoid noisy output in production.

    makeSupplier: (handle, ctx) => {
        const [input] = nodeTargets(ctx.config, handle.nodeId)
        console.log(input)
        return input && compileSuppliersFor(ctx, input.id)

fission/src/util/Colors.ts:11

The JSDoc says the palette entries are hsl(h, s, v), but the implementation uses HSL lightness (and includes %). Updating the doc avoids confusion for future callers.
fission/src/systems/simulation/wiring/Factories.ts:282
Leftover console.log(JSON.stringify(componentType)) will spam logs whenever a deconstructor node is created. Please remove it (or gate it behind a debug flag).


    targetNoraType.forEach((componentType, i) => {
        console.log(JSON.stringify(componentType))
        addHandle(config, {

I added the sensor device to the generated guid so it includes both name and halsim device. I think it's fine since it would make sense for a later sensor with the same name and target device to overwrite a previous one.

…esim

RoushilS

Sim and diff both look good to me. I especially liked how clean and extensive the type system groundwork was (nora and stimulus). The wiring system being broken up makes it much more accessible now.

azaleacolburn

Mostly LGTM, but I have a few nitpicks that you can address, dismiss, or push off to a separate PR. Nice work on this one.

azaleacolburn · 2026-08-17T16:31:25Z

+/// the underlying primitive data type, a unit, and a derivative order.
+/// E.g., an angular velocity would be a number that is the first derivative of an angle
+///
+/// A base unit of NONE is included for unitless values such as a motor's percent output.


FWIW, percent is a unit, just a dimensionless one

azaleacolburn · 2026-08-19T17:46:15Z

+    private _prevVel = new THREE.Vector3()
+    private _prevOmega = new THREE.Vector3()
+
+    private _accel = new THREE.Vector3()
+    private _vel = new THREE.Vector3()


Not for this PR, but I feel like we should have a separate Vector class that isn't jolt or three, since they're both rather misleading.

azaleacolburn · 2026-08-19T17:48:33Z

+        this._prevVel = velCom.clone()
+        this._prevOmega = omega.clone()


Do we need to clone the vectors here?

azaleacolburn · 2026-08-19T17:50:15Z

+            const accelCom = velCom.clone().sub(this._prevVel).divideScalar(deltaT)
+            const alpha = omega.clone().sub(this._prevOmega).divideScalar(deltaT)
+
+            const accelPoint = accelCom.add(alpha.cross(r)).add(omega.clone().cross(omega.clone().cross(r)))


If we never use omega again, do we need to clone?

azaleacolburn · 2026-08-19T17:51:16Z

+    protected supplyValue(): NoraValueOf<typeof ACCEL_TYPE> {
+        return [
+            { value: this._accel.x, baseType: ACCEL_TYPE[0] },
+            { value: this._accel.y, baseType: ACCEL_TYPE[1] },
+            { value: this._accel.z, baseType: ACCEL_TYPE[2] },
+            { value: this._vel.x, baseType: ACCEL_TYPE[3] },
+            { value: this._vel.y, baseType: ACCEL_TYPE[4] },
+            { value: this._vel.z, baseType: ACCEL_TYPE[5] },
+        ]
+    }


This is really sexy

azaleacolburn · 2026-08-19T17:52:44Z

+import Stimulus, { type StimulusID } from "./Stimulus"
+
+export const GYRO_TYPE = noraType([
+    numAxis(BaseUnit.ANGLE, DerivativeOrder.ZERO, BaseAxis.X, "Angle X"), // TODO: yaw/pitch/roll?


Are we coming back to this distinction in another PR?

azaleacolburn · 2026-08-19T17:54:52Z

+    private integrateAngle(axis: "x" | "y" | "z", rate: number, deltaT: number): number {
+        this._accumulated[axis] += rate * deltaT
+
+        const external = SimGeneric.getUnsafe<number>(SimType.GYRO, this._device, GyroStimulus.ANGLE_FIELD[axis])
+        if (external !== undefined && external !== this._lastWritten[axis]) {
+            this._offset[axis] = this._accumulated[axis] - external
+        }
+
+        const angle = this._accumulated[axis] - this._offset[axis]
+        this._lastWritten[axis] = angle
+        return angle
+    }


This function is very unclear to me, and should probably be documented (can be a future PR). It feels weird can't just set this, but whatever.

azaleacolburn · 2026-08-19T17:57:30Z

This looks basically identical to FunctionNode.tsx

azaleacolburn · 2026-08-19T17:58:25Z

In the future, this class and SimOutputNode.tsx should be merged into a single function with a const param.

azaleacolburn · 2026-08-19T18:16:58Z

+    try {
+        const flows = Object.values(config.handles)
+            .filter(h => !h.isSource && h.enabled && edgesOf(config, h.id).length > 0)
+            .filter(h => NODE_KINDS[config.nodes[h.nodeId]!.kind].makeReceiver !== undefined)
+            .map(h => {
+                const receiver = NODE_KINDS[config.nodes[h.nodeId]!.kind].makeReceiver!(h, ctx)
+                const supplier = compileSuppliersFor(ctx, h.id)
+                if (!receiver) throw new Error(`Could not create a receiver for '${h.displayName}'`)
+                if (!supplier) throw new Error(`Could not create a supplier for '${h.displayName}'`)
+                return { supplier, receiver }
+            })
+        return { flows }
+    } catch (error) {
+        console.error("Compilation failed", error)
+        return { error: error instanceof Error ? error.message : String(error) }
+    }


I don't love the error handling here.

addressed feedback, approved in person

azaleacolburn

LGTM

…esim

PepperLola added 2 commits July 31, 2026 15:17

feat: gyro and accel show up in wiring panel

d8221c3

fix: sim devices now show up on robot io

fd235ff

PepperLola force-pushed the jwrigh/255/improve-codesim branch 2 times, most recently from afc61f3 to 85f2e6f Compare August 4, 2026 22:19

PepperLola changed the title ~~Code Sim Improvements [SYNTH-255]~~ Code Sim Improvements [SYNTH-255] & [SYNTH-260] Aug 6, 2026

feat: improved nora typing

ba2b8b3

added a generic type for maintainability, and now differentiate between purposes for nora types (e.g., now have gyro nora 6 and accel nora 6) so that you can't connect gyro data to an accel input

PepperLola force-pushed the jwrigh/255/improve-codesim branch from 85f2e6f to ba2b8b3 Compare August 6, 2026 17:55

PepperLola requested a lite review from Copilot August 6, 2026 17:56

Copilot started reviewing on behalf of PepperLola August 6, 2026 17:57 View session

Copilot AI reviewed Aug 6, 2026

View reviewed changes

Comment thread fission/src/systems/simulation/SimConfigShared.ts Outdated

Comment thread fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts

Comment thread fission/src/systems/simulation/SimulationSystem.ts Outdated

Comment thread fission/src/systems/simulation/Nora.ts Outdated

PepperLola added 14 commits August 6, 2026 11:17

Merge remote-tracking branch 'origin/dev' into jwrigh/255/improve-cod…

4f45816

…esim

feat: started on full nora rewrite

875e4b8

Merge remote-tracking branch 'origin/dev' into jwrigh/255/improve-cod…

554b153

…esim

feat: big refactor

b00ddcf

feat: more refactor, wiring kind of works

0daab86

fix: persist deleting edges with delete key

aab0591

chore: more logging, split up node compilation

0571352

feat: big wiring refactor

c59dd50

fix: better palettes so node handles look more different

969a4a2

feat: attach names to types for constructor/deconstructor nodes

2f62e60

fix: can connect handles both ways now

741af7a

feat: allow user to refresh robot IO node once ws connected

1a7bf62

feat: better feedback on compilation failure

eab17e0

chore: formatter

b332796

PepperLola requested a lite review from Copilot August 15, 2026 01:31

PepperLola self-assigned this Aug 15, 2026

Copilot started reviewing on behalf of PepperLola August 15, 2026 01:32 View session

PepperLola added ui/ux Relating to user interface, or in general, user experience refactor The most important part of software development. codesim Related to code simulation labels Aug 15, 2026

PepperLola marked this pull request as ready for review August 15, 2026 01:32

PepperLola requested review from a team as code owners August 15, 2026 01:32

PepperLola requested review from 0xda157 and AlexD717 August 15, 2026 01:32

Copilot AI reviewed Aug 15, 2026

View reviewed changes

Comment thread fission/src/systems/simulation/SimulationSystem.ts Outdated

PepperLola added 4 commits August 17, 2026 11:19

fix: colors and copilot suggestion

cb17f70

fix: other copilot suggestions

264ae1c

I added the sensor device to the generated guid so it includes both name and halsim device. I think it's fine since it would make sense for a later sensor with the same name and target device to overwrite a previous one.

Merge remote-tracking branch 'origin/dev' into jwrigh/255/improve-cod…

43d74db

…esim

fix: added back configure pause ref

544de34

RoushilS approved these changes Aug 18, 2026

View reviewed changes

azaleacolburn previously requested changes Aug 19, 2026

View reviewed changes

chore: addressed feedback

571e671

azaleacolburn approved these changes Aug 19, 2026

View reviewed changes

PepperLola added 3 commits August 19, 2026 12:47

Merge remote-tracking branch 'origin/dev' into jwrigh/255/improve-cod…

bd86c3e

…esim

fix: removed duplicate entry in bun.lock

c8f3e65

Merge remote-tracking branch 'origin/dev' into jwrigh/255/improve-cod…

d4e6c7a

…esim

PepperLola merged commit a7c1b87 into dev Aug 19, 2026
23 checks passed

PepperLola deleted the jwrigh/255/improve-codesim branch August 19, 2026 20:04

PepperLola mentioned this pull request Aug 22, 2026

v7.3.0 Release #1524

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		this._prevVel = velCom.clone()
		this._prevOmega = omega.clone()

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Code Sim Improvements

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PepperLola commented Aug 4, 2026 •

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