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robotpy-halsim-gui
Installing this package will allow you to utilize the 2020+ WPILib GUI simulation from a RobotPy program.
Usage
First, install pyfrc. Then run your robot with the 'sim' argument:
# Windows
py -3 -m robotpy sim
# Linux/OSX
python3 -m robotpy sim
WPILib's documentation for using the simulator can be found at http://docs.wpilib.org/en/latest/docs/software/wpilib-tools/robot-simulation/simulation-gui.html