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 +1,44 @@
+"""Start the prepared Worker and its private tunnel in one foreground SSH session."""
+
+import argparse
+import base64
+import os
+import re
+
+parser = argparse.ArgumentParser()
+parser.add_argument("--release", required=True, help="16-character build_bundle identity prefix")
+parser.add_argument("--once", action="store_true", help="Exit after one episode")
+args = parser.parse_args()
+if not re.fullmatch(r"[a-f0-9]{16}", args.release):
+    parser.error("release must be a 16-character lowercase hexadecimal bundle identity")
+script = r"""
+$ErrorActionPreference='Stop'
+$ProgressPreference='SilentlyContinue'
+[Console]::OutputEncoding=[System.Text.Encoding]::UTF8
+$b='D:\NDC_MISSIONCORE\runtime\simulation'
+$worker="$b\releases\ai-polygon-RELEASE\simulation\ai-polygon\worker.py"
+& "$b\isaac-sim-6.1.0\kit\python\python.exe" -u $worker `
+    --token-file "$b\private\worker.token" --state "$b\state" `
+    --isaac "$b\isaac-sim-6.1.0" ONCE
+exit $LASTEXITCODE
+""".replace("RELEASE", args.release).replace("ONCE", "--once" if args.once else "")
+encoded = base64.b64encode(script.encode("utf-16-le")).decode()
+os.execvp(
+    "ssh",
+    [
+        "ssh",
+        "-T",
+        "-o",
+        "BatchMode=yes",
+        "-o",
+        "ExitOnForwardFailure=yes",
+        "-o",
+        "ServerAliveInterval=5",
+        "-o",
+        "ServerAliveCountMax=3",
+        "-R",
+        "127.0.0.1:18081:127.0.0.1:8000",
+        "mission-gpu",
+        "powershell.exe -NoProfile -NonInteractive -EncodedCommand " + encoded,
+    ],
+)