sequence-base 0.3.7__tar.gz → 0.3.8__tar.gz

{sequence_base-0.3.7 → sequence_base-0.3.8}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.5
 Name: sequence-base
-Version: 0.3.7
+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-0.3.7 → sequence_base-0.3.8}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "sequence-base"
-version = "0.3.7"
+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-0.3.7 → sequence_base-0.3.8}/sequence_base/constants/version.py

@@ -6,7 +6,8 @@ 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 = "0.4.6"  # 0.4.5 -> 0.4.6: InferParam + DeploymentPolicy.params; EvalRequest.params / variants / record; BenchmarkRegisterRequest.gpu
+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

{sequence_base-0.3.7 → 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-0.3.7 → sequence_base-0.3.8}/sequence_base/schemas/ActionChunk.json

@@ -98,5 +98,5 @@
   ],
   "title": "ActionChunk",
   "type": "object",
-  "x-contract-version": "0.4.6"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.7 → 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": "0.4.6"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.7 → sequence_base-0.3.8}/sequence_base/schemas/ActionStep.json

@@ -19,5 +19,5 @@
   ],
   "title": "ActionStep",
   "type": "object",
-  "x-contract-version": "0.4.6"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.7 → sequence_base-0.3.8}/sequence_base/schemas/AdapterTransform.json

@@ -38,5 +38,5 @@
   ],
   "title": "AdapterTransform",
   "type": "object",
-  "x-contract-version": "0.4.6"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.7 → sequence_base-0.3.8}/sequence_base/schemas/Autoscaler.json

@@ -39,5 +39,5 @@
   },
   "title": "Autoscaler",
   "type": "object",
-  "x-contract-version": "0.4.6"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.7 → sequence_base-0.3.8}/sequence_base/schemas/BenchmarkConditionSpec.json

@@ -62,5 +62,5 @@
   ],
   "title": "BenchmarkConditionSpec",
   "type": "object",
-  "x-contract-version": "0.4.6"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.7 → 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"
@@ -539,5 +599,5 @@
   ],
   "title": "BenchmarkRegisterRequest",
   "type": "object",
-  "x-contract-version": "0.4.6"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.7 → sequence_base-0.3.8}/sequence_base/schemas/BenchmarkSpec.json

@@ -207,7 +207,7 @@
       ],
       "title": "SeqFlags",
       "type": "integer",
-      "x-contract-version": "0.4.6",
+      "x-contract-version": "0.4.7",
       "x-flag-names": {
         "CHECK": 65536,
         "INFER": 16,
@@ -397,5 +397,5 @@
   ],
   "title": "BenchmarkSpec",
   "type": "object",
-  "x-contract-version": "0.4.6"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.7 → sequence_base-0.3.8}/sequence_base/schemas/BenchmarkStatusResponse.json

@@ -40,5 +40,5 @@
   ],
   "title": "BenchmarkStatusResponse",
   "type": "object",
-  "x-contract-version": "0.4.6"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.7 → sequence_base-0.3.8}/sequence_base/schemas/BootstrapResponse.json

@@ -72,5 +72,5 @@
   ],
   "title": "BootstrapResponse",
   "type": "object",
-  "x-contract-version": "0.4.6"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.7 → sequence_base-0.3.8}/sequence_base/schemas/Camera.json

@@ -21,5 +21,5 @@
   ],
   "title": "Camera",
   "type": "object",
-  "x-contract-version": "0.4.6"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.7 → sequence_base-0.3.8}/sequence_base/schemas/ClampInfo.json

@@ -23,5 +23,5 @@
   ],
   "title": "ClampInfo",
   "type": "object",
-  "x-contract-version": "0.4.6"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.7 → sequence_base-0.3.8}/sequence_base/schemas/CodeBundle.json

@@ -23,5 +23,5 @@
   ],
   "title": "CodeBundle",
   "type": "object",
-  "x-contract-version": "0.4.6"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.7 → sequence_base-0.3.8}/sequence_base/schemas/Concurrency.json

@@ -17,5 +17,5 @@
   ],
   "title": "Concurrency",
   "type": "object",
-  "x-contract-version": "0.4.6"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.7 → sequence_base-0.3.8}/sequence_base/schemas/Conditions.json

@@ -55,5 +55,5 @@
   ],
   "title": "Conditions",
   "type": "object",
-  "x-contract-version": "0.4.6"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.7 → sequence_base-0.3.8}/sequence_base/schemas/ConnectRequest.json

@@ -25,5 +25,5 @@
   ],
   "title": "ConnectRequest",
   "type": "object",
-  "x-contract-version": "0.4.6"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.7 → 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": "0.4.6"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.7 → sequence_base-0.3.8}/sequence_base/schemas/DeploymentAccepted.json

@@ -18,5 +18,5 @@
   ],
   "title": "DeploymentAccepted",
   "type": "object",
-  "x-contract-version": "0.4.6"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.7 → sequence_base-0.3.8}/sequence_base/schemas/DeploymentPolicy.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"
@@ -293,5 +353,5 @@
   ],
   "title": "DeploymentPolicy",
   "type": "object",
-  "x-contract-version": "0.4.6"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.7 → sequence_base-0.3.8}/sequence_base/schemas/DeploymentRequest.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"
@@ -659,5 +719,5 @@
   ],
   "title": "DeploymentRequest",
   "type": "object",
-  "x-contract-version": "0.4.6"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.7 → sequence_base-0.3.8}/sequence_base/schemas/DeploymentStatusResponse.json

@@ -41,5 +41,5 @@
   ],
   "title": "DeploymentStatusResponse",
   "type": "object",
-  "x-contract-version": "0.4.6"
+  "x-contract-version": "0.4.7"
 }

{sequence_base-0.3.7 → sequence_base-0.3.8}/sequence_base/schemas/Embodiment.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"
@@ -139,5 +199,5 @@
   ],
   "title": "Embodiment",
   "type": "object",
-  "x-contract-version": "0.4.6"
+  "x-contract-version": "0.4.7"
 }