Commit 0cea0b7

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hulk-booster (HULKs#2182)

* Add hulk_booster crate * Booster camera interface * `From<Image> for RgbImage`: nv12 encoding support * Make more ros types framework compatible * Port hulk_booster hardware interface to zenoh * Object detection model with booster camera resolution * Twix image panel ros2 image support * Disables sending of low command * Remove old sensor data * Impl `From<ros2::Time> for SystemTime` * LowCommandInterface: CDR serialization * Add more image topics to camera interface * Twix image panel: image topic selector * Explicitly use serial or parallel motor states * Mujoco image size to 544x448 * Move secondary cylcer hardware interface reads to own cycler * `From<Image> for RgbImage`: mono16 encoding support * `CyclerInstance` code gen: `allow(clippy::enum_variant_names)` * Return error when serial motor states are not available * Address review comments * Use copied instead of cloned * Reenable object detection * V1.5 image topics * Fixed length motor states * Run blocking calls until cancelled * Readd look at feature * Enable TensorRT engine cache * Use `cdr` crate for cdr serde * Update `LowState` to V1.5 firmware * Only receive needed images --------- Co-authored-by: Julian Schuler <julianschuler@users.noreply.github.com>

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51 files changed

Cargo.lock
Cargo.toml
crates
- bevyhavior_simulator/src
  - interfake.rs
- booster
  - Cargo.toml
  - src
    - lib.rs
- code_generation/src
  - cyclers.rs
- control/src
  - motion
    - command_sender.rs
    - look_at.rs
  - sensor_data_receiver.rs
- hardware/src
  - lib.rs
- hulk_booster
  - Cargo.toml
  - src
    - hardware_interface.rs
    - main.rs
- hulk_imagine
  - Cargo.toml
- hulk_manifest/src
  - lib.rs
- hulk_mujoco
  - Cargo.toml
  - src
    - hardware_interface.rs
    - main.rs
- hulk_replayer
  - Cargo.toml
  - src
    - main.rs
- object_detection
  - Cargo.toml
  - src
- path_serde/src
  - not_supported.rs
- ros2
  - Cargo.toml
  - src
    - builtin_interfaces
      - time.rs
    - geometry_msgs
    - sensor_msgs
      - image.rs
    - std_msgs
      - header.rs
- sensor_receiver
  - Cargo.toml
  - src
- simulation_message/src
  - lib.rs
- types/src
  - parameters.rs
- vision/src
  - image_receiver.rs
- world_state/src
  - camera_matrix_calculator.rs
  - kinematics_provider.rs
etc
- neural_networks
  - yolo11n-544x448.onnx
- parameters
  - default.json
  - hardware.json
tools
- mujoco-simulator
  - mujoco-rust-server
    - mujoco_rust_server
      - booster_types.pyi
    - src/controller
      - messages.rs
  - mujoco-simulator
    - main.py
    - mujoco_simulator
      - low_state.py
      - render.py
- twix/src/panels/image
  - mod.rs

`‎Cargo.lock‎`

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