[paool]

No it doesn't?

You can run stock, or any fork simply by providing the URL of the version you want to run.

Where exactly is the restriction?

[LorenDB]

https://github.com/commaai/openpilot/blob/master/docs/SAFETY... - they will ban your device from the training set if you run an unsafe fork.

[ehnto]

That seems very reasonable, doesn't it? Otherwise the fork could pollute the training data through bad modifications, and tracing that would be a pain.