Cube Rotation Changes

[alberthli]

A collection of changes to Obelisk used for the Cube Rotation Obelisk (CRO) project.

Changes

• Add skip_cuda back to Zed installation flags. If you need cuda downstream, it is assumed that you have it prior to invoking the install_sys_deps script. Part of the reason for this is that there's a very difficult to resolve error involving Cuda installation in Docker containers
• Add --cmake-args to colcon build command when --zed is specified. The build breaks with local install in a Docker container without these additional flags. These flags are specified in the Zed repo README:

  /usr/bin/ld: warning: libnvcuvid.so.1, needed by /usr/local/zed/lib/libsl_zed.so, not found (try using -rpath or -rpath-link)
  /usr/local/zed/lib/libsl_zed.so: undefined reference to `cuvidDestroyDecoder'
  /usr/local/zed/lib/libsl_zed.so: undefined reference to `cuvidUnmapVideoFrame64'
  /usr/local/zed/lib/libsl_zed.so: undefined reference to `cuvidDestroyVideoParser'
  /usr/local/zed/lib/libsl_zed.so: undefined reference to `cuvidMapVideoFrame64'
  /usr/local/zed/lib/libsl_zed.so: undefined reference to `cuvidCtxLockCreate'
  /usr/local/zed/lib/libsl_zed.so: undefined reference to `cuvidGetDecoderCaps'
  /usr/local/zed/lib/libsl_zed.so: undefined reference to `cuvidParseVideoData'
  /usr/local/zed/lib/libsl_zed.so: undefined reference to `cuvidDecodePicture'
  /usr/local/zed/lib/libsl_zed.so: undefined reference to `cuvidCreateDecoder'
  /usr/local/zed/lib/libsl_zed.so: undefined reference to `cuvidCtxLockDestroy'
  /usr/local/zed/lib/libsl_zed.so: undefined reference to `cuvidCreateVideoParser'
  collect2: error: ld returned 1 exit status
  

  If these or similar arguments are seen, the following flags will get rid of them:

  cmake -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs -DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined" ..
  

• Added the ability to specify a Mujoco source directory to Obelisk. This is used when the downstream project might also fetch/build Mujoco, causing a conflict with the one fetched during the Obelisk build. Simply download and extract an official Mujoco release and point the setup.sh script to the resulting directory using the --mj-source-dir flag.
• Made obk-launch data bagging opt-in, since the data take up a large amount of space if unchecked.
• Allow LEAP hand gains to be configurable from yaml (exposed as ROS params)
• Expose a quat_order ros parameter in the default viz robot class so the user can choose whether to publish quaternion vectors using a wxyz or a xyzw convention.
• Added a LEAP hand URDF + updated the leap_cpp example to include a foxglove viz