feat(simulation): add Worker AI polygon runtime and terrain navigation

2026-09-25 16:40:45 +03:00
parent a7c64e009d
commit f01bd39037
88 changed files with 9918 additions and 108 deletions
@@ -0,0 +1,121 @@
+"""Replay retained sensor evidence against the shipped CMU adapter on Worker.
+
+Owns exactly one bounded CPU container. Never starts rendering or model GPU jobs.
+"""
+
+import argparse
+import hashlib
+import http.client
+import json
+import subprocess
+import time
+from collections import Counter
+from datetime import UTC, datetime
+from pathlib import Path
+from uuid import uuid4
+
+import numpy as np
+
+
+def main():
+    p = argparse.ArgumentParser()
+    p.add_argument("--adapter", type=Path, required=True)
+    p.add_argument("--run", type=Path, required=True)
+    p.add_argument("--output", type=Path, required=True)
+    p.add_argument("--limit", type=int, default=180)
+    p.add_argument("--terrain", action="store_true")
+    args = p.parse_args()
+    profile = json.loads((args.adapter / "models.worker-006.json").read_text())
+    identity = subprocess.check_output(
+        [
+            "docker",
+            "run",
+            "-d",
+            "--name",
+            "ndc-ai-polygon-navigation-replay-" + uuid4().hex[:8],
+            "--cpus",
+            "3",
+            "--memory",
+            "2g",
+            "--label",
+            "com.nodedc.product=mission-core",
+            "--label",
+            "com.nodedc.stack=ai-polygon-qualification",
+            "--label",
+            "com.nodedc.role=qualification",
+            "--label",
+            "com.nodedc.managed-by=ai-polygon-qualification",
+            "-p",
+            "127.0.0.1:18193:8010",
+            "--mount",
+            f"type=bind,source={args.adapter},target=/adapter,readonly",
+            profile["navigation"]["image"],
+        ],
+        text=True,
+    ).strip()
+    connection = http.client.HTTPConnection("127.0.0.1", 18193, timeout=3)
+    source = args.run / "camera/decisions.jsonl"
+    rows = [json.loads(line) for line in source.read_text().splitlines()]
+    report = dict(
+        utc=datetime.now(UTC).isoformat(),
+        monotonic=time.monotonic(),
+        input_sha256=hashlib.sha256(source.read_bytes()).hexdigest(),
+        samples=[],
+    )
+    try:
+        deadline = time.monotonic() + 20
+        while True:
+            try:
+                connection.request("GET", "/ready")
+                response = connection.getresponse()
+                response.read()
+                if response.status == 200:
+                    break
+            except (OSError, http.client.HTTPException):
+                connection.close()
+            if time.monotonic() > deadline:
+                raise TimeoutError("Replay navigation unavailable")
+            time.sleep(0.2)
+        for row in rows[: args.limit]:
+            if row["goal"] is None:
+                continue
+            observation = np.load(args.run / "camera" / f"{row['frame_id']:08d}.range.npz")
+            payload = dict(
+                points=observation["points"].tolist(),
+                pose=observation["pose"].tolist(),
+                goal=row["goal"],
+                max_speed_mps=0.15,
+                allow_reverse=row.get("mission", {}).get("state") == "reversing",
+                include_terrain=args.terrain,
+            )
+            connection.request("POST", "/plan", body=json.dumps(payload))
+            response = connection.getresponse()
+            result = json.loads(response.read())
+            if response.status != 200:
+                raise RuntimeError(result)
+            report["samples"].append(
+                dict(
+                    frame=row["frame_id"],
+                    pose=payload["pose"],
+                    original=row["decision"],
+                    result=result,
+                )
+            )
+            time.sleep(0.18)
+    finally:
+        connection.close()
+        subprocess.run(["docker", "rm", "-f", identity], check=True, capture_output=True)
+        args.output.parent.mkdir(parents=True, exist_ok=True)
+        args.output.write_text(json.dumps(report, indent=2), encoding="utf-8")
+    failures = Counter(
+        v["result"].get("diagnostic", {}).get("failure", v["result"]["status"])
+        for v in report["samples"]
+    )
+    blocked = [v for v in report["samples"] if v["result"]["status"] == "blocked"]
+    print(
+        json.dumps(dict(failures=failures, first_blocked=blocked[:1], last=report["samples"][-1:]))
+    )
+
+
+if __name__ == "__main__":
+    main()