Core Embodied AI Framework for perception
Create the branes-ai/cortex repository and establish the root folder structure. This strictly enforces the boundaries between your Rust hardware layer, your math, your algorithms, and your middleware.
branes-ai/cortex/
├── .github/
│ └── workflows/
│ └── ci.yml # GitHub Actions CI matrix
├── core/ # Rust Resource Manager (HAL, Memory, KPU sync)
│ ├── Cargo.toml
│ ├── build.rs # cxx C++ header generation
│ └── src/
│ ├── lib.rs
│ └── memory_provider.rs # The SITL vs SoC abstraction
├── math/ # C++ MTL5 NLS Solvers & Data Types
│ ├── CMakeLists.txt
│ └── include/
│ └── branes/math/ # Header-only implementations
├── sdk/ # C++ Spatial Operators (VIO, SLAM, 3DSG)
│ ├── CMakeLists.txt
│ ├── include/
│ │ └── branes/sdk/
│ └── src/
├── daemons/ # C++ Zenoh Wrappers (The Application surface)
│ ├── CMakeLists.txt
│ └── src/
│ └── vio_daemon.cpp # Zenoh pub/sub + YAML parsing + SDK invocation
├── config/ # Unified YAML configuration schemas
│ └── default_bot.yaml
└── CMakeLists.txt # The Master Build Script