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 +1,78 @@
+"""Versioned Worker-only collision preparation; never uploads generated assets."""
+
+import hashlib
+import json
+import subprocess
+import time
+from pathlib import Path
+
+from local_state import write_json
+
+from k1link.simulation.ai_polygon.terrain_contract import terrain_matches
+
+
+def prepare_terrain(root: Path, episode: Path, world: dict, job=None, pulse=None) -> Path:
+    if world.get("storage", {}).get("kind") == "worker":
+        path = root / "assets/prepared-worlds" / world["sha256"] / "terrain.json"
+        manifest = json.loads(path.read_text(encoding="utf-8-sig"))
+        if (
+            manifest.get("generator") != "paired-source"
+            or manifest.get("collider_sha256") != world.get("collider_sha256")
+            or not terrain_matches(manifest, world)
+        ):
+            raise ValueError("Paired collision asset does not match the admitted world")
+        return path  # install_terrain hashes the actual collider before physics.
+    generator = Path(__file__).parent / "navigation/Prepare-Terrain.ps1"
+    generator_sha256 = hashlib.sha256(generator.read_bytes()).hexdigest()
+
+    def matching():
+        for path in (root / "assets/terrain-v1").glob(world["sha256"] + "-*/terrain.json"):
+            value = json.loads(path.read_text(encoding="utf-8-sig"))
+            if terrain_matches(value, world, generator_sha256):
+                return path
+        return None
+
+    found = matching()
+    if found:
+        return found
+    world_path = episode / "terrain-world.json"
+    write_json(world_path, world)
+    with (episode / "terrain-preparation.log").open("wb") as log:
+        process = subprocess.Popen(
+            [
+                "powershell.exe",
+                "-NoProfile",
+                "-NonInteractive",
+                "-ExecutionPolicy",
+                "Bypass",
+                "-File",
+                str(generator),
+                "-Root",
+                str(root),
+                "-WorldFile",
+                str(world_path),
+            ],
+            stdout=log,
+            stderr=subprocess.STDOUT,
+        )
+        if job is not None:
+            job.assign(process)
+        deadline = time.monotonic() + 180
+        try:
+            while process.poll() is None:
+                if time.monotonic() > deadline:
+                    raise TimeoutError("Terrain preparation timed out")
+                if pulse:
+                    pulse()
+                time.sleep(1)
+            if process.returncode != 0:
+                raise RuntimeError("Terrain preparation failed; inspect the Worker episode log")
+        finally:
+            if process.poll() is None:
+                from worker import terminate_episode
+
+                terminate_episode(process)
+    found = matching()
+    if found is None:
+        raise RuntimeError("Terrain preparation did not produce a matching collider")
+    return found