Dimos Unity Simulator

dimos/core/native_module.py

@@ -40,6 +40,7 @@ class MyCppModule(NativeModule):
 
 from __future__ import annotations
 
+import collections
 import enum
 import inspect
 import json
@@ -131,9 +132,11 @@ class NativeModule(Module[_NativeConfig]):
     _process: subprocess.Popen[bytes] | None = None
     _watchdog: threading.Thread | None = None
     _stopping: bool = False
+    _last_stderr_lines: collections.deque[str]
 
     def __init__(self, **kwargs: Any) -> None:
         super().__init__(**kwargs)
+        self._last_stderr_lines = collections.deque(maxlen=50)
         self._resolve_paths()
 
     @rpc
@@ -155,15 +158,25 @@ def start(self) -> None:
         env = {**os.environ, **self.config.extra_env}
         cwd = self.config.cwd or str(Path(self.config.executable).resolve().parent)
 
-        logger.info("Starting native process", cmd=" ".join(cmd), cwd=cwd)
+        module_name = type(self).__name__
+        logger.info(
+            f"Starting native process: {module_name}",
+            module=module_name,
+            cmd=" ".join(cmd),
+            cwd=cwd,
+        )
         self._process = subprocess.Popen(
             cmd,
             env=env,
             cwd=cwd,
             stdout=subprocess.PIPE,
             stderr=subprocess.PIPE,
         )
-        logger.info("Native process started", pid=self._process.pid)
+        logger.info(
+            f"Native process started: {module_name}",
+            module=module_name,
+            pid=self._process.pid,
+        )
 
         self._stopping = False
         self._watchdog = threading.Thread(target=self._watch_process, daemon=True)
@@ -202,10 +215,20 @@ def _watch_process(self) -> None:
 
         if self._stopping:
             return
+
+        module_name = type(self).__name__
+        exe_name = Path(self.config.executable).name if self.config.executable else "unknown"
+
+        # Use buffered stderr lines from the reader thread for the crash report.
+        last_stderr = "\n".join(self._last_stderr_lines)
+
         logger.error(
-            "Native process died unexpectedly",
+            f"Native process crashed: {module_name} ({exe_name})",
+            module=module_name,
+            executable=exe_name,
             pid=self._process.pid,
             returncode=rc,
+            last_stderr=last_stderr[:500] if last_stderr else None,
         )
         self.stop()
 
@@ -219,10 +242,13 @@ def _read_log_stream(self, stream: IO[bytes] | None, level: str) -> None:
         if stream is None:
             return
         log_fn = getattr(logger, level)
+        is_stderr = level == "warning"
         for raw in stream:
             line = raw.decode("utf-8", errors="replace").rstrip()
             if not line:
                 continue
+            if is_stderr:
+                self._last_stderr_lines.append(line)
             if self.config.log_format == LogFormat.JSON:
                 try:
                     data = json.loads(line)
@@ -274,12 +300,16 @@ def _maybe_build(self) -> None:
             if line.strip():
                 logger.warning(line)
         if proc.returncode != 0:
+            stderr_tail = stderr.decode("utf-8", errors="replace").strip()[-1000:]
             raise RuntimeError(
-                f"Build command failed (exit {proc.returncode}): {self.config.build_command}"
+                f"Build command failed (exit {proc.returncode}): {self.config.build_command}\n"
+                f"stderr: {stderr_tail}"
             )
         if not exe.exists():
             raise FileNotFoundError(
-                f"Build command succeeded but executable still not found: {exe}"
+                f"Build command succeeded but executable still not found: {exe}\n"
+                f"Build output may have been written to a different path. "
+                f"Check that build_command produces the executable at the expected location."
             )
 
     def _collect_topics(self) -> dict[str, str]:

dimos/models/segmentation/edge_tam.py

@@ -14,7 +14,6 @@
 
 from collections.abc import Generator
 from contextlib import contextmanager
-import os
 from pathlib import Path
 import shutil
 import tempfile

dimos/models/vl/create.py

@@ -1,7 +1,7 @@
 from typing import Any
 
-from dimos.models.vl.types import VlModelName
 from dimos.models.vl.base import VlModel
+from dimos.models.vl.types import VlModelName
 
 
 def create(name: VlModelName) -> VlModel[Any]:

dimos/robot/all_blueprints.py

@@ -89,6 +89,7 @@
     "unitree-go2-temporal-memory": "dimos.robot.unitree.go2.blueprints.agentic.unitree_go2_temporal_memory:unitree_go2_temporal_memory",
     "unitree-go2-vlm-stream-test": "dimos.robot.unitree.go2.blueprints.smart.unitree_go2_vlm_stream_test:unitree_go2_vlm_stream_test",
     "unitree-go2-webrtc-keyboard-teleop": "dimos.robot.unitree.go2.blueprints.basic.unitree_go2_webrtc_keyboard_teleop:unitree_go2_webrtc_keyboard_teleop",
+    "unity-sim": "dimos.simulation.unity.blueprint:unity_sim",
     "xarm-perception": "dimos.manipulation.blueprints:xarm_perception",
     "xarm-perception-agent": "dimos.manipulation.blueprints:xarm_perception_agent",
     "xarm6-planner-only": "dimos.manipulation.blueprints:xarm6_planner_only",
@@ -166,6 +167,7 @@
     "twist-teleop-module": "dimos.teleop.quest.quest_extensions",
     "unitree-g1-skill-container": "dimos.robot.unitree.g1.skill_container",
     "unitree-skill-container": "dimos.robot.unitree.unitree_skill_container",
+    "unity-bridge-module": "dimos.simulation.unity.module",
     "vlm-agent": "dimos.agents.vlm_agent",
     "vlm-stream-tester": "dimos.agents.vlm_stream_tester",
     "voxel-grid-mapper": "dimos.mapping.voxels",

dimos/simulation/unity/blueprint.py

@@ -0,0 +1,61 @@
+# 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.
+
+"""Standalone Unity sim blueprint — interactive test of the Unity bridge.
+
+Launches the Unity simulator, displays lidar + camera in Rerun, and accepts
+keyboard teleop via TUI. No navigation stack — just raw sim data.
+
+Usage:
+    dimos run unity-sim
+"""
+
+from __future__ import annotations
+
+from typing import Any
+
+from dimos.core.blueprints import autoconnect
+from dimos.protocol.pubsub.impl.lcmpubsub import LCM
+from dimos.simulation.unity.module import UnityBridgeModule
+from dimos.visualization.rerun.bridge import RerunBridgeModule, _resolve_viewer_mode
+
+
+def _rerun_blueprint() -> Any:
+    import rerun.blueprint as rrb
+
+    return rrb.Blueprint(
+        rrb.Vertical(
+            rrb.Spatial3DView(origin="world", name="3D"),
+            rrb.Spatial2DView(origin="world/color_image", name="Camera"),
+            row_shares=[2, 1],
+        ),
+    )
+
+
+rerun_config = {
+    "blueprint": _rerun_blueprint,
+    "pubsubs": [LCM()],
+    "visual_override": {
+        "world/camera_info": UnityBridgeModule.rerun_suppress_camera_info,
+    },
+    "static": {
+        "world/color_image": UnityBridgeModule.rerun_static_pinhole,
+    },
+}
+
+
+unity_sim = autoconnect(
+    UnityBridgeModule.blueprint(),
+    RerunBridgeModule.blueprint(viewer_mode=_resolve_viewer_mode(), **rerun_config),
+)