diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index a94a93f..fa2cfbb 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -51,7 +51,6 @@
 import frc.robot.utils.CommandXboxControllerSubsystem;
 import java.util.Optional;
 import java.util.Set;
-import org.ironmaple.simulation.SimulatedArena;
 import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.LogFileUtil;
 import org.littletonrobotics.junction.LoggedRobot;
@@ -185,22 +184,6 @@ public enum RobotEdition {
   @AutoLogOutput boolean haveAutosGenerated = false;
   private final LoggedDashboardChooser<Command> autoChooser = new LoggedDashboardChooser<>("Autos");
 
-  // temporarily override map with empty map to avoid collisions with reefscape elements
-  // unfortunately this also turns off collisions with walls but that's fine
-  // TODO update once rebuilt is added to maplesim
-  private static class EvergreenArena extends SimulatedArena {
-    protected EvergreenArena() {
-      super(new FieldMap() {});
-    }
-
-    @Override
-    public void placeGamePiecesOnField() {}
-  }
-
-  static {
-    SimulatedArena.overrideInstance(new EvergreenArena());
-  }
-
   // this is here because it doesn't like that the power distribution logger is never closed
   @SuppressWarnings("resource")
   public Robot() {
diff --git a/src/main/java/frc/robot/subsystems/swerve/module/ModuleIOSim.java b/src/main/java/frc/robot/subsystems/swerve/module/ModuleIOSim.java
index dad28f6..a249bc8 100644
--- a/src/main/java/frc/robot/subsystems/swerve/module/ModuleIOSim.java
+++ b/src/main/java/frc/robot/subsystems/swerve/module/ModuleIOSim.java
@@ -5,7 +5,7 @@
 import com.ctre.phoenix6.CANBus;
 import edu.wpi.first.units.measure.Angle;
 import frc.robot.subsystems.swerve.SwerveSubsystem;
-import frc.robot.utils.MaplePhoenixUtil;
+import frc.robot.utils.maplesim.MaplePhoenixUtil;
 import org.ironmaple.simulation.drivesims.SwerveModuleSimulation;
 
 public class ModuleIOSim extends ModuleIOReal {
diff --git a/src/main/java/frc/robot/utils/maplesim/EvergreenArena.java b/src/main/java/frc/robot/utils/maplesim/EvergreenArena.java
new file mode 100644
index 0000000..d3d0e69
--- /dev/null
+++ b/src/main/java/frc/robot/utils/maplesim/EvergreenArena.java
@@ -0,0 +1,13 @@
+package frc.robot.utils.maplesim;
+
+import org.ironmaple.simulation.SimulatedArena;
+
+/** A maple sim arena with no collisions */
+public class EvergreenArena extends SimulatedArena {
+  public EvergreenArena() {
+    super(new FieldMap() {});
+  }
+
+  @Override
+  public void placeGamePiecesOnField() {}
+}
diff --git a/src/main/java/frc/robot/utils/MaplePhoenixUtil.java b/src/main/java/frc/robot/utils/maplesim/MaplePhoenixUtil.java
similarity index 99%
rename from src/main/java/frc/robot/utils/MaplePhoenixUtil.java
rename to src/main/java/frc/robot/utils/maplesim/MaplePhoenixUtil.java
index 2fda1f0..09b51f0 100644
--- a/src/main/java/frc/robot/utils/MaplePhoenixUtil.java
+++ b/src/main/java/frc/robot/utils/maplesim/MaplePhoenixUtil.java
@@ -11,7 +11,7 @@
 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 // GNU General Public License for more details.
 
-package frc.robot.utils;
+package frc.robot.utils.maplesim;
 
 import static edu.wpi.first.units.Units.Seconds;
 
diff --git a/vendordeps/maple-sim.json b/vendordeps/maple-sim.json
index 6596d65..aa65f46 100644
--- a/vendordeps/maple-sim.json
+++ b/vendordeps/maple-sim.json
@@ -1,7 +1,7 @@
 {
   "fileName": "maple-sim.json",
   "name": "maplesim",
-  "version": "0.3.14",
+  "version": "0.4.0-beta",
   "frcYear": "2026",
   "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b",
   "mavenUrls": [
@@ -13,7 +13,7 @@
     {
       "groupId": "org.ironmaple",
       "artifactId": "maplesim-java",
-      "version": "0.3.14"
+      "version": "0.4.0-beta"
     },
     {
       "groupId": "org.dyn4j",