| """Allowlisted public simulation record schema; no account or source-ID fields.""" |
| import math,re |
| SOURCES={'RoboTwin2.0':'mit','DexMimicGen':'cc-by-nc-sa-4.0'} |
| BODIES={'aloha','arx','franka','piper','ur5','dmg'} |
| FIELDS={'sample_id','group_id','split','source_dataset','license','robot_body','task', |
| 'coordinate_space','point_names','n_hist','n_fut','forecast_arm_count', |
| 'history','anchor','future_delta','hw','media_archive','media_member','media_sha256'} |
| TEXT_RISK=re.compile(r'\bhf_[A-Za-z0-9]{25,}|\bghp_[A-Za-z0-9]{25,}|\bgithub_pat_[A-Za-z0-9_]{25,}|\bsk-[A-Za-z0-9_-]{25,}|-----BEGIN [A-Z ]*PRIVATE KEY-----|/(?:pfs|root|home|Users)/|https?://|[\w.+-]+@[\w.-]+\.[A-Za-z]{2,}',re.I) |
|
|
| def validate(row): |
| if set(row)!=FIELDS:raise ValueError('Non-allowlisted record field') |
| for k in ('sample_id','group_id'): |
| if not re.fullmatch('[0-9a-f]{32}',row[k]):raise ValueError('Identifier not pseudonymous') |
| if row['source_dataset'] not in SOURCES or row['license']!=SOURCES[row['source_dataset']]:raise ValueError('Unknown source/license') |
| if row['robot_body'] not in BODIES or row['split'] not in ('train','heldout'):raise ValueError('Unknown body/split') |
| if not re.fullmatch('[a-z0-9_]{1,80}',row['task']):raise ValueError('Non-enumerated task text') |
| if row['coordinate_space']!='normalized_1000_anchor_delta' or (row['n_hist'],row['n_fut'])!=(8,8):raise ValueError('Wrong protocol') |
| arms=row['forecast_arm_count'] |
| if arms not in (1,2) or len(row['point_names'])!=arms:raise ValueError('Wrong point/arm count') |
| if any(p not in ('left_eef_origin','right_eef_origin') for p in row['point_names']):raise ValueError('Not fixed EEF points') |
| for name in ('history','future_delta'): |
| if len(row[name])!=arms:raise ValueError('Wrong arm-first dimension') |
| for arm in row[name]: |
| if len(arm)!=8:raise ValueError('Wrong time dimension') |
| for point in arm: |
| if len(point)!=2 or any(type(v) not in (int,float) or not math.isfinite(v) for v in point):raise ValueError('Invalid numeric XY') |
| if row['anchor']!=[arm[-1] for arm in row['history']]:raise ValueError('Wrong anchor') |
| for a in range(arms): |
| for xy in row['history'][a]: |
| if any(v<0 or v>1000 for v in xy):raise ValueError('Observed point out of view') |
| for delta in row['future_delta'][a]: |
| if any(row['anchor'][a][i]+delta[i]<0 or row['anchor'][a][i]+delta[i]>1000 for i in range(2)):raise ValueError('Future point out of view') |
| if len(row['hw'])!=2 or any(type(v)!=int or not 1<=v<=4096 for v in row['hw']):raise ValueError('Invalid frame dimensions') |
| if not re.fullmatch('data/archives/(train|heldout)-[0-9]{5}\\.tar',row['media_archive']):raise ValueError('Unsafe archive path') |
| if row['media_member']!=row['sample_id']+'.npz' or not re.fullmatch('[0-9a-f]{64}',row['media_sha256']):raise ValueError('Unsafe media identity') |
| return row |
|
|
