dimensionalOS · ruthwikdasyam · Sep 17, 2026 · Sep 17, 2026 · Sep 17, 2026 · Sep 17, 2026
@@ -2,6 +2,7 @@ OPENAI_API_KEY=
 HUGGINGFACE_ACCESS_TOKEN=
 ALIBABA_API_KEY=
 ANTHROPIC_API_KEY=
+TYPESAFE_API_KEY=
 HF_TOKEN=
 HUGGINGFACE_PRV_ENDPOINT=
 ROBOT_IP=

@@ -405,8 +405,8 @@ def _tag(row: dict[str, Any]) -> str:
 
 
 def _blueprint(path: Path) -> str | None:
-    """Run dirs are named <stamp>-<blueprint> (generate_run_id)."""
-    m = re.fullmatch(r"\d{8}-\d{6}-(.+)", path.parent.name)
+    """Run dirs are named <stamp>-<blueprint>[-<4 hex>] (generate_run_id)."""
+    m = re.fullmatch(r"\d{8}-\d{6}-(.+?)(?:-[0-9a-f]{4})?", path.parent.name)
     return m.group(1) if m else None
 
 

@@ -98,7 +98,7 @@ def _lcm_bucket(seed: str) -> int:
 tqdm.tqdm.monitor_interval = 0
 
 _dotenv = dotenv_values()
-for _key in ("OPENAI_API_KEY", "ANTHROPIC_API_KEY", "ALIBABA_API_KEY"):
+for _key in ("OPENAI_API_KEY", "ANTHROPIC_API_KEY", "ALIBABA_API_KEY", "TYPESAFE_API_KEY"):
     if _dotenv.get(_key):
         os.environ.setdefault(_key, _dotenv[_key])
 

@@ -96,6 +96,9 @@ class GlobalConfig(BaseSettings):
     viewer: ViewerBackend = "rerun"
     rerun_open: RerunOpenOption = RERUN_OPEN_DEFAULT
     rerun_web: bool = RERUN_ENABLE_WEB
+    # Also write the whole Rerun stream to recordings/<run-id>/rerun.rrd, the
+    # folder the --record memory.db lands in, so a run can be replayed offline.
+    rerun_save: bool = False
     rerun_host: str | None = None
     rerun_websocket_server_port: int = 3030
     n_workers: int = 2

@@ -21,6 +21,7 @@
 import os
 from pathlib import Path
 import re
+import secrets
 import signal
 import time
 
@@ -98,10 +99,15 @@ def load(cls, path: Path) -> RunEntry:
 
 
 def generate_run_id(blueprint: str) -> str:
-    """Generate a human-readable, timestamp-prefixed run ID."""
+    """Generate a human-readable, timestamp-prefixed run ID.
+
+    The trailing token keeps two runs of one blueprint started in the same
+    second apart: the run ID names the recording and log directories, and
+    parallel runs (eval workers on one host) would otherwise write into one.
+    """
     ts = time.strftime("%Y%m%d-%H%M%S")
     safe_name = re.sub(r"[^a-zA-Z0-9_-]", "-", blueprint)
-    return f"{ts}-{safe_name}"
+    return f"{ts}-{safe_name}-{secrets.token_hex(2)}"
 
 
 def is_pid_alive(pid: int) -> bool:

@@ -127,8 +127,11 @@ class TestGenerateRunId:
 
     def test_generate_run_id_format(self):
         rid = generate_run_id("unitree-go2")
-        # Pattern: YYYYMMDD-HHMMSS-<name>
-        assert re.match(r"^\d{8}-\d{6}-unitree-go2$", rid), f"unexpected format: {rid}"
+        # Pattern: YYYYMMDD-HHMMSS-<name>-<4 hex>
+        assert re.match(r"^\d{8}-\d{6}-unitree-go2-[0-9a-f]{4}$", rid), f"unexpected format: {rid}"
+
+    def test_same_second_runs_differ(self):
+        assert generate_run_id("unitree-go2") != generate_run_id("unitree-go2")
 
     def test_sanitizes_slashes(self):
         rid = generate_run_id("path/to/bp")

@@ -0,0 +1,281 @@
+# Copyright 2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Offline tests for the TypeSafe policy: no API key, no simulator."""
+
+from __future__ import annotations
+
+import inspect
+import json
+import math
+from pathlib import Path
+from typing import Any
+
+import pytest
+from typesafe_sdk import Choice, ChoiceAnswer, Noul
+
+from dimos.evals.agents.typesafe_policy import (
+    STEP_CRITERIA,
+    STEPS,
+    TypeSafePolicy,
+    build_questions,
+    derive_goal_label,
+    load_scene,
+    scene_labels,
+)
+from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
+
+SHIPPED_SCENE = Path(__file__).parents[1] / "suites" / "scenes" / "apartment_detections.json"
+
+
+def _det(
+    id_: str, label: str, cx: float, cy: float, cz: float, sx: float, sy: float, sz: float
+) -> dict[str, Any]:
+    """One entry in the DimSim detections schema (PR #4208)."""
+    return {
+        "id": id_,
+        "label": label,
+        "score": 1.0,
+        "center_xyz": [cx, cy, cz],
+        "size_xyz": [sx, sy, sz],
+        "orientation_xyzw": [0.0, 0.0, 0.0, 1.0],
+    }
+
+
+SCENE = {
+    "frame_id": "world",
+    "timestamp": 0.0,
+    "count": 6,
+    "detections": [
+        _det("couch", "Modern L-shaped sectional", 1.0, 4.0, 0.4, 2.0, 1.0, 0.8),  # goal
+        _det("table", "Coffee table", 3.0, 0.0, 0.25, 1.0, 1.0, 0.5),
+        _det("plate", "Dinner plate", 3.0, 0.0, 0.52, 0.2, 0.2, 0.02),  # on the table
+        _det("header", "wall-south-header", 5.0, 0.0, 2.7, 0.2, 1.0, 0.9),  # overhead
+        _det("wall-n", "wall-north", -5.0, 0.0, 1.5, 0.2, 12.0, 3.0),
+        _det("wall-s", "wall-south", 5.0, 0.0, 1.5, 0.2, 12.0, 3.0),
+    ],
+}
+
+
+@pytest.fixture
+def scene_json(tmp_path: Path) -> Path:
+    path = tmp_path / "scene.json"
+    path.write_text(json.dumps(SCENE))
+    return path
+
+
+def _pose(yaw_rad: float) -> PoseStamped:
+    return PoseStamped(
+        position=(0.0, 0.0, 0.0),
+        orientation=(0.0, 0.0, math.sin(yaw_rad / 2), math.cos(yaw_rad / 2)),
+        frame_id="world",
+    )
+
+
+def _choice(key: str, confidence: float = 0.9) -> ChoiceAnswer:
+    return ChoiceAnswer(choice=key, confidence=confidence, probabilities={key: confidence})
+
+
+def test_steps_and_criteria_agree() -> None:
+    """Every option the model can pick maps to a vector, and vice versa."""
+    assert set(STEPS) == set(STEP_CRITERIA)
+
+
+def test_criteria_carry_no_compass_words() -> None:
+    """Wall labels use a different compass; the step wording must not."""
+    for text in STEP_CRITERIA.values():
+        assert not any(word in text.lower() for word in ("north", "south", "east", "west"))
+
+
+def test_questions_are_one_choice_and_one_noul() -> None:
+    questions = build_questions()
+    assert isinstance(questions["step"], Choice)
+    assert isinstance(questions["reached"], Noul)
+
+
+# --- scene loading ---------------------------------------------------------------
+
+
+def test_scene_drops_overhead_and_contained_boxes(scene_json: Path) -> None:
+    """The door header passes over the robot; the plate sits inside the table."""
+    scene = load_scene(scene_json, "sectional")
+    assert [o.label for o in scene.obstacles] == [
+        "Modern L-shaped sectional",
+        "Coffee table",
+        "wall-north",
+        "wall-south",
+    ]
+
+
+def test_scene_goal_box_and_room_bounds(scene_json: Path) -> None:
+    scene = load_scene(scene_json, "sectional")
+    assert scene.goal_label == "Modern L-shaped sectional"
+    assert scene.goal_xy == (1.0, 4.0)
+    assert scene.goal_box == (0.0, 3.5, 2.0, 4.5)
+    assert scene.room_bounds == (-5.1, -6.0, 5.1, 6.0)  # from the walls, not the furniture
+
+
+def test_scene_unknown_goal_raises(scene_json: Path) -> None:
+    with pytest.raises(LookupError, match="hot tub"):
+        load_scene(scene_json, "hot tub")
+
+
+def test_shipped_apartment_scene_is_ground_truth() -> None:
+    """Pins the copied PR #4208 snapshot and the filter: 15 walls + 33 objects.
+
+    Of 107 detections, 43 are overhead (headers, wall cabinets, the TV) and 16
+    are contained footprints (shelf and tabletop clutter, bedding, and one
+    dining chair tucked fully under its table).
+    """
+    scene = load_scene(SHIPPED_SCENE, "sectional")
+    labels = [o.label for o in scene.obstacles]
+    assert sum(label.startswith(("wall", "yard")) for label in labels) == 15
+    assert len(labels) == 48
+    assert scene.goal_box == (0.156, 3.028, 1.956, 5.735)
+    assert not any("header" in label for label in labels)
+
+
+def test_observe_merges_static_scene_with_live_pose(scene_json: Path) -> None:
+    policy = TypeSafePolicy(scene_json=scene_json)
+    policy._pose = _pose(math.radians(90.0))
+    _, state = policy.observe(load_scene(scene_json, "sectional"), tick=3)
+    assert state.goal_box == (0.0, 3.5, 2.0, 4.5)
+    assert state.robot_yaw_deg == pytest.approx(90.0)
+    assert state.ticks_elapsed == 3
+    assert "wall-north" in json.dumps(state.encode())
+
+
+# --- controller ------------------------------------------------------------------
+# The pick is the command. Nothing about heading is computed in code.
+
+
+def test_forward_and_backward_scale_linear_x(scene_json: Path) -> None:
+    policy = TypeSafePolicy(scene_json=scene_json)
+    fwd, back = policy.twist(_choice("1,0")), policy.twist(_choice("-1,0"))
+    assert (fwd.linear.x, fwd.angular.z) == pytest.approx((0.2, 0.0))
+    assert (back.linear.x, back.angular.z) == pytest.approx((-0.2, 0.0))
+    assert fwd.linear.y == 0.0  # DimSim ignores it anyway
+
+
+def test_turns_scale_angular_z_with_the_ros_sign(scene_json: Path) -> None:
+    """+angular.z is counter-clockwise (left) in ROS and in DimSim's physics."""
+    policy = TypeSafePolicy(scene_json=scene_json)
+    left, right = policy.twist(_choice("0,1")), policy.twist(_choice("0,-1"))
+    assert (left.linear.x, left.angular.z) == pytest.approx((0.0, 0.5))
+    assert (right.linear.x, right.angular.z) == pytest.approx((0.0, -0.5))
+
+
+def test_stop_is_zero(scene_json: Path) -> None:
+    twist = TypeSafePolicy(scene_json=scene_json).twist(_choice("0,0"))
+    assert (twist.linear.x, twist.linear.y, twist.angular.z) == (0.0, 0.0, 0.0)
+
+
+def test_twist_takes_no_pose(scene_json: Path) -> None:
+    """Guards the contract: the command must not depend on the robot's heading."""
+    assert list(inspect.signature(TypeSafePolicy.twist).parameters) == ["self", "step"]
+
+
+def test_pick_is_applied_whatever_the_confidence(scene_json: Path) -> None:
+    """No threshold: the argmax is the command. Only "0,0" stops the robot."""
+    policy = TypeSafePolicy(scene_json=scene_json)
+    twist = policy.twist(_choice("1,0", confidence=0.21))
+    assert (twist.linear.x, twist.angular.z) == pytest.approx((0.2, 0.0))
+
+
+# --- preflight -------------------------------------------------------------------
+
+
+def test_preflight_rejects_modules(scene_json: Path) -> None:
+    """The policy calls no tools, so it must never pull in a skill container."""
+    policy = TypeSafePolicy(scene_json=scene_json, modules=("unitree-skill-container",))
+    with pytest.raises(ValueError, match="no tools"):
+        policy.preflight(None)  # type: ignore[arg-type]
+
+
+def test_preflight_rejects_missing_scene(tmp_path: Path) -> None:
+    policy = TypeSafePolicy(scene_json=tmp_path / "nope.json")
+    with pytest.raises(FileNotFoundError):
+        policy.preflight(None)  # type: ignore[arg-type]
+
+
+def test_preflight_rejects_unknown_goal(scene_json: Path) -> None:
+    policy = TypeSafePolicy(scene_json=scene_json, goal_label="jacuzzi")
+    with pytest.raises(LookupError):
+        policy.preflight(None)  # type: ignore[arg-type]
+
+
+# --- goal from the instruction ---------------------------------------------------
+
+
+def test_derive_goal_label_picks_the_word_that_names_an_object(scene_json: Path) -> None:
+    labels = scene_labels(scene_json)
+    assert derive_goal_label("navigate to the sectional couch", labels) == "sectional"
+    assert derive_goal_label("go to the bathtub", scene_labels(SHIPPED_SCENE)) == "bathtub"
+
+
+def test_derive_goal_label_ignores_stop_and_short_words(scene_json: Path) -> None:
+    """'with' occurs inside labels ("with chrome") but never names a goal."""
+    with pytest.raises(LookupError, match="names a scene object"):
+        derive_goal_label("go with the flow", scene_labels(SHIPPED_SCENE))
+
+
+def test_load_scene_rejects_an_empty_goal(scene_json: Path) -> None:
+    with pytest.raises(ValueError, match="matches everything"):
+        load_scene(scene_json, "")
+
+
+def test_preflight_without_goal_label_only_checks_the_file(scene_json: Path) -> None:
+    TypeSafePolicy(scene_json=scene_json).preflight(None)  # type: ignore[arg-type]
+
+
+def test_wiring_follows_the_environment(scene_json: Path) -> None:
+    from dimos.evals.agents.typesafe_policy import DIMSIM_WIRING, HABITAT_WIRING, Wiring
+    from dimos.evals.environments.dimsim import DimSimEnvironment
+    from dimos.evals.environments.habitat import HabitatEnvironment
+
+    dimsim = DimSimEnvironment(blueprint=["unitree-go2", "mcp-server"])
+    habitat = HabitatEnvironment(blueprint=["habitat-teleop", "mcp-server"])
+    agent = TypeSafePolicy(scene_json=scene_json)
+    agent.preflight(dimsim)
+    assert agent._wiring == DIMSIM_WIRING
+    agent.preflight(habitat)
+    assert agent._wiring == HABITAT_WIRING
+
+    explicit = TypeSafePolicy(scene_json=scene_json, cmd_topic="/twist", speed_scale=1.0)
+    explicit.preflight(habitat)
+    assert explicit._wiring == Wiring("/odometry", "Odometry", "/twist", 1.0)
+
+
+def test_odometry_becomes_the_pose(scene_json: Path) -> None:
+    from dimos.msgs.geometry_msgs.Pose import Pose
+    from dimos.msgs.nav_msgs.Odometry import Odometry
+
+    agent = TypeSafePolicy(scene_json=scene_json)
+    odom = Odometry(ts=5.0, frame_id="world", pose=Pose(position=(1.0, 2.0, 0.0)))
+    agent._on_odometry(odom)
+    assert agent._pose_seen.is_set()
+    assert agent._pose is not None
+    assert tuple(agent._pose.position) == (1.0, 2.0, 0.0)
+    assert (agent._pose.frame_id, agent._pose.ts) == ("world", 5.0)
+
+
+def test_habitat_scales_commands_to_match_dimsim(scene_json: Path) -> None:
+    from dimos.evals.agents.typesafe_policy import HABITAT_WIRING
+
+    agent = TypeSafePolicy(scene_json=scene_json)
+    agent._wiring = HABITAT_WIRING
+    forward = agent.twist(_choice("1,0"))
+    left = agent.twist(_choice("0,1"))
+    assert forward.linear.x == pytest.approx(3.0 * agent.config.speed)
+    assert left.angular.z == pytest.approx(3.0 * agent.config.turn_rate)