sequence-base 0.3.6__tar.gz → 0.3.8__tar.gz

{sequence_base-0.3.6 → sequence_base-0.3.8}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.5
 Name: sequence-base
-Version: 0.3.6
+Version: 0.3.8
 Summary: Shared foundation for the Sequences platform — wire contract, correlation, error taxonomy, constants. Used by the robot SDK, gateway, and container harness.
 Requires-Python: >=3.11
 Requires-Dist: pydantic>=2.0

{sequence_base-0.3.6 → sequence_base-0.3.8}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "sequence-base"
-version = "0.3.6"
+version = "0.3.8"
 description = "Shared foundation for the Sequences platform — wire contract, correlation, error taxonomy, constants. Used by the robot SDK, gateway, and container harness."
 requires-python = ">=3.11"
 dependencies = ["pydantic>=2.0"]

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/__init__.py

@@ -44,6 +44,7 @@ from sequence_base.contract import (  # noqa: F401  (re-export surface)
     ConnectResponse,
     DeploymentAccepted,
     DeploymentPolicy,
+    InferParam,
     DeploymentRequest,
     DeploymentState,
     DeploymentStatusResponse,
@@ -122,7 +123,7 @@ __all__ = [
     "PolicySpec", "PolicyRegistration",
     # contract 2 — deployments
     "MAX_CODE_BUNDLE_BYTES", "CodeBundle",
-    "Resources", "Autoscaler", "Timeouts", "VolumeAttach", "DeploymentPolicy", "DeploymentRequest",
+    "Resources", "Autoscaler", "Timeouts", "VolumeAttach", "DeploymentPolicy", "InferParam", "DeploymentRequest",
     "DeploymentAccepted", "DeploymentState", "DeploymentStatusResponse",
     # contract 3 — connect / lease
     "Lease", "ConnectRequest", "ConnectResponse",

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/constants/version.py

@@ -6,7 +6,9 @@ PROTOCOL_VERSION = "1"
 # across deployments / repos can tell which version of a shape it is validating against. MUST change
 # whenever any shared wire shape changes (a field added / removed / retyped) — that is what makes
 # contract evolution mechanically detectable instead of eyeballed. Bump on any shape change.
-CONTRACT_VERSION = "0.4.5"  # 0.4.4 -> 0.4.5: BenchmarkRegisterRequest.condition_list / timeout_s / default_adapter_ref (+ BenchmarkConditionSpec); EvalRequest.tasks / max_usd / rerun_of
+CONTRACT_VERSION = "0.4.7"  # 0.4.6 -> 0.4.7: ActionContract.bounds / max_delta / on_violation (action limits)
+# previous: 0.4.6  # 0.4.5 -> 0.4.6: InferParam + DeploymentPolicy.params; EvalRequest.params / variants / record; BenchmarkRegisterRequest.gpu
+# previous: 0.4.5  # 0.4.4 -> 0.4.5: BenchmarkRegisterRequest.condition_list / timeout_s / default_adapter_ref (+ BenchmarkConditionSpec); EvalRequest.tasks / max_usd / rerun_of
 # previous: 0.4.4  # 0.4.3 -> 0.4.4: BenchmarkRegisterRequest.secrets (by name) + score (has @seq.score)
 # previous: 0.4.3  # 0.4.2 -> 0.4.3: I/O contract — ObservationContract/Camera/Embodiment on PolicySpec + DeploymentPolicy, Observation.state, ConnectRequest.embodiment, ConnectResponse.action/observation/embodiment
 # previous: 0.4.2  # 0.4.1 -> 0.4.2: 契约7 volumes (uploads: VolumeFile/VolumeUploadRequest/UploadTarget/VolumeUploadResponse/VolumeInfo), weights accept vol://<name>[@v<n>]; DeploymentRequest name is a slug and weights need an origin

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/contract/__init__.py

@@ -39,6 +39,7 @@ from sequence_base.contract.deployments import (
     CodeBundle,
     DeploymentAccepted,
     DeploymentPolicy,
+    InferParam,
     DeploymentRequest,
     DeploymentState,
     DeploymentStatusResponse,
@@ -113,7 +114,7 @@ __all__ = [
     "PolicySpec", "PolicyRegistration",
     # contract 2
     "MAX_CODE_BUNDLE_BYTES", "CodeBundle",
-    "Resources", "Autoscaler", "Timeouts", "VolumeAttach", "DeploymentPolicy", "DeploymentRequest",
+    "Resources", "Autoscaler", "Timeouts", "VolumeAttach", "DeploymentPolicy", "InferParam", "DeploymentRequest",
     "DeploymentAccepted", "DeploymentState", "DeploymentStatusResponse",
     # contract 3
     "Lease", "ConnectRequest", "ConnectResponse",

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/contract/benchmarks.py

@@ -166,6 +166,8 @@ class BenchmarkRegisterRequest(BaseModel):
     timeout_s: float | None = Field(default=None, gt=0)
     # The adapter (module:Class in the benchmark's own code) an eval uses when it names none.
     default_adapter_ref: str | None = None
+    # A GPU for each sim sandbox (a renderer or a GPU physics engine): a card name the platform offers. None: CPU.
+    gpu: str | None = Field(default=None, max_length=32)
 
 
 class BenchmarkStatusResponse(BaseModel):

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/contract/deployments.py

@@ -88,6 +88,17 @@ class VolumeAttach(BaseModel):
     create_if_missing: bool
 
 
+class InferParam(BaseModel):
+    """One inference parameter the policy's `@seq.infer` declares — `def infer(self, obs, *, num_steps: int = 10)`
+    — with its type and default. An /act or an eval may set it; the worker passes only declared names, cast to
+    this type, and refuses any other. {gs-plans/customization/policy.md "四、推理行为"}"""
+
+    model_config = ConfigDict(extra="forbid")
+
+    type: Literal["int", "float", "bool", "str"]
+    default: int | float | bool | str | None = None
+
+
 class DeploymentPolicy(BaseModel):
     """The policy block of the deployments body. `handler_ref` and `action` are required; `action` is the
     fixed obs→ActionChunk contract, not a bare dict.
@@ -114,6 +125,16 @@ class DeploymentPolicy(BaseModel):
     # robot. None (an older SDK) is treated as undeclared, so an older policy is never refused for the
     # placeholder it never chose. {io-contract.md "旧 SDK 写的 POLICY 照样能 BUILD"}
     action_declared: bool | None = None
+    # The inference parameters @seq.infer takes beyond the observation (name -> type, default). None: an older
+    # SDK that did not look; {}: the policy declares none.
+    params: dict[str, InferParam] | None = Field(default=None, max_length=32)
+
+    @model_validator(mode="after")
+    def _param_names(self) -> "DeploymentPolicy":
+        for name in self.params or {}:
+            if not name.isidentifier() or name.startswith("_"):
+                raise ValueError(f"inference parameter {name!r} is not a public Python identifier")
+        return self
 
 
 MAX_CODE_BUNDLE_BYTES = 8 * 1024 * 1024

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/contract/eval.py

@@ -10,6 +10,7 @@ not a bare dict or free text.
 from __future__ import annotations
 
 from enum import Enum
+from typing import Literal
 
 from pydantic import BaseModel, ConfigDict, Field, model_validator
 
@@ -53,6 +54,13 @@ class EvalRequest(BaseModel):
     max_usd: float | None = Field(default=None, gt=0)
     # Run again only the episodes of that earlier eval that errored; the report covers both runs.
     rerun_of: str | None = None
+    # Inference parameters the model's @seq.infer declares, set for every /act of this eval.
+    params: dict[str, int | float | bool | str] | None = Field(default=None, max_length=32)
+    # Only the conditions whose variant takes one of these values on each named axis.
+    variants: dict[str, list[str]] | None = Field(default=None, max_length=32)
+    # Which episodes are recorded when the benchmark declares render=: the first seed of each task (default),
+    # every episode, or none.
+    record: Literal["per-task", "all", "none"] | None = None
 
 
 class ClampInfo(BaseModel):

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/contract/io.py

@@ -11,9 +11,9 @@ policy → accounts → connect would otherwise import back into policy.
 """
 from __future__ import annotations
 
-from typing import Any
+from typing import Any, Literal
 
-from pydantic import BaseModel, ConfigDict, Field, field_validator
+from pydantic import BaseModel, ConfigDict, Field, field_validator, model_validator
 
 from sequence_base.contract.act import ActionSpace
 
@@ -28,6 +28,30 @@ class ActionContract(BaseModel):
     action_space: ActionSpace
     action_dim: int
     control_frequency_hz: float
+    # Safety limits, enforced by the worker on every chunk before it leaves and by the robot client again before it
+    # executes: each dimension's [low, high], and the largest change between consecutive steps (one number for every
+    # dimension, or one per dimension). None: unchecked. {gs-plans/customization/deployment.md "五、安全:动作限位"}
+    bounds: list[tuple[float, float]] | None = Field(default=None, max_length=256)
+    max_delta: float | list[float] | None = None
+    # What a chunk outside them gets: "clip" (the default when None) — clipped into them, each clipped step and
+    # dimension named in the response's warnings — or "refuse": the worker answers 500 bounds_violation instead.
+    on_violation: Literal["clip", "refuse"] | None = None
+
+    @model_validator(mode="after")
+    def _limits_fit(self) -> "ActionContract":
+        if self.bounds is not None:
+            if len(self.bounds) != self.action_dim:
+                raise ValueError(f"bounds has {len(self.bounds)} [low, high] pairs; action_dim is {self.action_dim}")
+            for i, (low, high) in enumerate(self.bounds):
+                if low > high:
+                    raise ValueError(f"bounds[{i}] has low {low} above high {high}")
+        if self.max_delta is not None:
+            deltas = self.max_delta if isinstance(self.max_delta, list) else [self.max_delta]
+            if isinstance(self.max_delta, list) and len(deltas) != self.action_dim:
+                raise ValueError(f"max_delta has {len(deltas)} values; action_dim is {self.action_dim}")
+            if any(d <= 0 for d in deltas):
+                raise ValueError("max_delta must be positive")
+        return self
 
 
 # The proprioception fields an observation contract may require, with the wire field each one names.

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/schema_export.py

@@ -50,6 +50,7 @@ from sequence_base.contract.deployments import (
     CodeBundle,
     DeploymentAccepted,
     DeploymentPolicy,
+    InferParam,
     DeploymentRequest,
     DeploymentStatusResponse,
     Resources,
@@ -129,6 +130,7 @@ WIRE_MODELS: dict[str, type[BaseModel]] = {
     "VolumeAttach": VolumeAttach,
     "CodeBundle": CodeBundle,
     "DeploymentPolicy": DeploymentPolicy,
+    "InferParam": InferParam,
     "DeploymentRequest": DeploymentRequest,
     "DeploymentAccepted": DeploymentAccepted,
     "DeploymentStatusResponse": DeploymentStatusResponse,

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/schemas/ActionChunk.json

@@ -98,5 +98,5 @@
   ],
   "title": "ActionChunk",
   "type": "object",
-  "x-contract-version": "0.4.5"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/schemas/ActionContract.json

@@ -22,10 +22,70 @@
     "action_space": {
       "$ref": "#/$defs/ActionSpace"
     },
+    "bounds": {
+      "anyOf": [
+        {
+          "items": {
+            "maxItems": 2,
+            "minItems": 2,
+            "prefixItems": [
+              {
+                "type": "number"
+              },
+              {
+                "type": "number"
+              }
+            ],
+            "type": "array"
+          },
+          "maxItems": 256,
+          "type": "array"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "default": null,
+      "title": "Bounds"
+    },
     "control_frequency_hz": {
       "title": "Control Frequency Hz",
       "type": "number"
     },
+    "max_delta": {
+      "anyOf": [
+        {
+          "type": "number"
+        },
+        {
+          "items": {
+            "type": "number"
+          },
+          "type": "array"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "default": null,
+      "title": "Max Delta"
+    },
+    "on_violation": {
+      "anyOf": [
+        {
+          "enum": [
+            "clip",
+            "refuse"
+          ],
+          "type": "string"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "default": null,
+      "title": "On Violation"
+    },
     "robot": {
       "title": "Robot",
       "type": "string"
@@ -39,5 +99,5 @@
   ],
   "title": "ActionContract",
   "type": "object",
-  "x-contract-version": "0.4.5"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/schemas/ActionStep.json

@@ -19,5 +19,5 @@
   ],
   "title": "ActionStep",
   "type": "object",
-  "x-contract-version": "0.4.5"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/schemas/AdapterTransform.json

@@ -38,5 +38,5 @@
   ],
   "title": "AdapterTransform",
   "type": "object",
-  "x-contract-version": "0.4.5"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/schemas/Autoscaler.json

@@ -39,5 +39,5 @@
   },
   "title": "Autoscaler",
   "type": "object",
-  "x-contract-version": "0.4.5"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/schemas/BenchmarkConditionSpec.json

@@ -62,5 +62,5 @@
   ],
   "title": "BenchmarkConditionSpec",
   "type": "object",
-  "x-contract-version": "0.4.5"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/schemas/BenchmarkRegisterRequest.json

@@ -11,10 +11,70 @@
         "action_space": {
           "$ref": "#/$defs/ActionSpace"
         },
+        "bounds": {
+          "anyOf": [
+            {
+              "items": {
+                "maxItems": 2,
+                "minItems": 2,
+                "prefixItems": [
+                  {
+                    "type": "number"
+                  },
+                  {
+                    "type": "number"
+                  }
+                ],
+                "type": "array"
+              },
+              "maxItems": 256,
+              "type": "array"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Bounds"
+        },
         "control_frequency_hz": {
           "title": "Control Frequency Hz",
           "type": "number"
         },
+        "max_delta": {
+          "anyOf": [
+            {
+              "type": "number"
+            },
+            {
+              "items": {
+                "type": "number"
+              },
+              "type": "array"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Max Delta"
+        },
+        "on_violation": {
+          "anyOf": [
+            {
+              "enum": [
+                "clip",
+                "refuse"
+              ],
+              "type": "string"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "On Violation"
+        },
         "robot": {
           "title": "Robot",
           "type": "string"
@@ -446,6 +506,19 @@
       "default": null,
       "title": "Default Adapter Ref"
     },
+    "gpu": {
+      "anyOf": [
+        {
+          "maxLength": 32,
+          "type": "string"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "default": null,
+      "title": "Gpu"
+    },
     "handler_ref": {
       "title": "Handler Ref",
       "type": "string"
@@ -526,5 +599,5 @@
   ],
   "title": "BenchmarkRegisterRequest",
   "type": "object",
-  "x-contract-version": "0.4.5"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/schemas/BenchmarkSpec.json

@@ -207,7 +207,7 @@
       ],
       "title": "SeqFlags",
       "type": "integer",
-      "x-contract-version": "0.4.5",
+      "x-contract-version": "0.4.7",
       "x-flag-names": {
         "CHECK": 65536,
         "INFER": 16,
@@ -397,5 +397,5 @@
   ],
   "title": "BenchmarkSpec",
   "type": "object",
-  "x-contract-version": "0.4.5"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/schemas/BenchmarkStatusResponse.json

@@ -40,5 +40,5 @@
   ],
   "title": "BenchmarkStatusResponse",
   "type": "object",
-  "x-contract-version": "0.4.5"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/schemas/BootstrapResponse.json

@@ -72,5 +72,5 @@
   ],
   "title": "BootstrapResponse",
   "type": "object",
-  "x-contract-version": "0.4.5"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/schemas/Camera.json

@@ -21,5 +21,5 @@
   ],
   "title": "Camera",
   "type": "object",
-  "x-contract-version": "0.4.5"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/schemas/ClampInfo.json

@@ -23,5 +23,5 @@
   ],
   "title": "ClampInfo",
   "type": "object",
-  "x-contract-version": "0.4.5"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/schemas/CodeBundle.json

@@ -23,5 +23,5 @@
   ],
   "title": "CodeBundle",
   "type": "object",
-  "x-contract-version": "0.4.5"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/schemas/Concurrency.json

@@ -17,5 +17,5 @@
   ],
   "title": "Concurrency",
   "type": "object",
-  "x-contract-version": "0.4.5"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/schemas/Conditions.json

@@ -55,5 +55,5 @@
   ],
   "title": "Conditions",
   "type": "object",
-  "x-contract-version": "0.4.5"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/schemas/ConnectRequest.json

@@ -25,5 +25,5 @@
   ],
   "title": "ConnectRequest",
   "type": "object",
-  "x-contract-version": "0.4.5"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/schemas/ConnectResponse.json

@@ -11,10 +11,70 @@
         "action_space": {
           "$ref": "#/$defs/ActionSpace"
         },
+        "bounds": {
+          "anyOf": [
+            {
+              "items": {
+                "maxItems": 2,
+                "minItems": 2,
+                "prefixItems": [
+                  {
+                    "type": "number"
+                  },
+                  {
+                    "type": "number"
+                  }
+                ],
+                "type": "array"
+              },
+              "maxItems": 256,
+              "type": "array"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Bounds"
+        },
         "control_frequency_hz": {
           "title": "Control Frequency Hz",
           "type": "number"
         },
+        "max_delta": {
+          "anyOf": [
+            {
+              "type": "number"
+            },
+            {
+              "items": {
+                "type": "number"
+              },
+              "type": "array"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Max Delta"
+        },
+        "on_violation": {
+          "anyOf": [
+            {
+              "enum": [
+                "clip",
+                "refuse"
+              ],
+              "type": "string"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "On Violation"
+        },
         "robot": {
           "title": "Robot",
           "type": "string"
@@ -221,5 +281,5 @@
   ],
   "title": "ConnectResponse",
   "type": "object",
-  "x-contract-version": "0.4.5"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.6 → sequence_base-0.3.8}/sequence_base/schemas/DeploymentAccepted.json

@@ -18,5 +18,5 @@
   ],
   "title": "DeploymentAccepted",
   "type": "object",
-  "x-contract-version": "0.4.5"
+  "x-contract-version": "0.4.7"
 }