agent

ReSim Agent

The ReSim Agent allows ReSim jobs to be run on customer-controlled hosts.

It is designed to support the integration of Hardware-in-the-Loop (HiL) testing into your ReSim workflows.

See the Agent page on our docs site for more details.

Prerequisites

Install Docker (e.g. https://docs.docker.com/engine/install/ubuntu/#install-using-the-repository)

sudo chgrp docker /run/containerd/containerd.sock

Configuration

By default, the Agent loads config from ~/.resim/config.yaml, caches credentials in that directory, and logs to the same directory (as well as stdout), however these settings can be overridden by setting the following environment variables:

• RESIM_AGENT_CONFIG_DIR - to point to a different configuration and cache directory. The Agent will load configuration from config.yaml in this directory and cache credentials here.
• RESIM_AGENT_LOG_DIR - to point to a different directory in which to write log files

The configuration file has the following options:

### Required
# Set a name for the agent which will be shown in ReSim
name: my-robot-arm
# Set the labels for which you would like this agent to run jobs (see below)
pool-labels: 
  - small
# These credentials for authenticating with the ReSim API will be provided by ReSim
username: 
password: 
### Optional 
# Log level - debug, info, warn, error (default: info)
log-level: info
# Size in MB of log file (default: 500), note that 3 compressed backups are kept
log-max-filesize: 200
# Auto update (default: false) - whether the agent will try to update itself when a new release is available
auto-update: false
# Privileged mode (default: false) - if true, your jobs will be run with elevated privileges (equivalent to docker --privileged)
privileged: false
# Docker network (default: bridge) - if "host", your jobs will be run without network isolation (equivalent to docker run --net=host)
docker-network-mode: bridge
# AWS config directory destination - if provided, the ~/.aws directory of the user running the agent (unles overridden, see below)
# will be mounted at this path in your test container.
# The value should be the expected AWS config directory of the user that runs **in your test container**, i.e. ~/.aws for that user
aws-config-destination-dir: /home/ubuntu/.aws (for example)
# By default, the agent will mount into your test container the ~/.aws directory of the user the agent is running as
# If you would like to override that behaviour and mount a specific directory, set aws-config-source-dir
# Note that the initialisation of the worker will still use the AWS config of the agent user, so you can use different profiles at initialisation and runtime
aws-config-source-dir: /home/aws-configs/dev/.aws (for example)
# Experience cache directory (default: /tmp/resim/cache) - the directory to store the experience cache
experience-cache-dir: /tmp/resim/cache
# Remove the worker directory (default: true) - Clean up /tmp/resim/... when the worker exits abnormally
remove-worker-dir: true
# Remove the experience cache directory (default: false) - Clean up experience-cache-dir when the agent exits
remove-experience-cache: false

# Add any mounts that you wish to pass to your build e.g. volumes or sockets
mounts:
  - /tmp/foo:/tmp/foo

# Add any environment variables that you wish to pass to your build
environment-variables:
  - NAME=value
  - NAME2=value2

Note that the pool-labels are an OR/ANY selection, that is, an agent running with the labels big and small will run jobs tagged with either of those labels.

Note that to run in other ReSim environments, you can set the api-host and auth-host to the appropriate values for the environment you are targeting.

Building the agent

go build -o ./resim-agent ./

CI

GO_VERSION is set as global variable in the repository settings

Releases

Binaries are built and uploaded to GitHub: https://github.com/resim-ai/agent/releases

To perform a release, push the appropriate v* tag to main.