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fix odometry sim #163

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fix odometry sim #163

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Ishan1522
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TODO:

  • Fix gyro sim
  • Fix vision sim
  • Rotation in sim is very slow for some reason
  • Odometry sim currently has some aggressive drift (I'm pretty sure the sim PID is just very poorly tuned) that wasn't seen b4.

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TODO for collisions:

Give the SimWorld update() a starting pose and rewrite it so it just uses the transform or smthn. idk why i made it so it uses a pose supplier. did i copy it?

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