feat(manipulation): add Dual OpenYAM teleoperation

[TomCC7]

Summary

• add a Dual OpenYAM entity with two verified OpenYAM arm models at the ABC Box 620 mm spacing
• add mock and dual-CAN hardware support, coupled planning groups, and Quest teleoperation
• align teleop velocity limits and Pink tuning with A1Z
• document fake-hardware and physical-hardware startup

Testing

• 83 focused manipulation, Pink IK, G1 Quest, and Dual OpenYAM tests pass after rebasing
• Ruff passes
• mypy passes
• uv run dimos run teleop-quest-dual-openyam starts successfully with mock hardware

Stack

• stacked above feat(g1): Quest teleop on shared dual-arm IK #3436 and transitively depends on feat: add unified dual-arm VR teleoperation #3392
• model archive is tracked in Git LFS and uploaded through ./bin/lfs_push

[codecov]

❌ 28 Tests Failed:

Tests completed	Failed	Passed	Skipped
3906	28	3878	175

View the top 3 failed test(s) by shortest run time

::dimos.robot.manipulators.openyam.test_openyam

Stack Traces | 0s run time

ImportError while importing test module '.../manipulators/openyam/test_openyam.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../manipulators/openyam/test_openyam.py:23: in <module>
    from dimos.robot.manipulators.openyam.blueprints.basic import (
.../openyam/blueprints/basic.py:22: in <module>
    from dimos.robot.manipulators.common.topics import DEFAULT_TRAJECTORY_TASK_NAME
E   ImportError: cannot import name 'DEFAULT_TRAJECTORY_TASK_NAME' from 'dimos.robot.manipulators.common.topics' (.../manipulators/common/topics.py)

dimos.imitation.collection.test_blueprint::test_recorder_reads_aggregate_joint_state[blueprint0]

Stack Traces | 0.001s run time

blueprint = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attemp...iption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] Blueprint object at 0xff8af0e2c6e0>

    @pytest.mark.parametrize("blueprint", [learning_collect_quest_xarm7, learning_collect_quest_piper])
    def test_recorder_reads_aggregate_joint_state(blueprint: Blueprint) -> None:
        streams = _joint_streams(blueprint)
    
        # Plain name pairing on both ends, no remap in between. The coordinator
        # atom carries its explicit instance_name (the RPC lookup contract).
        assert streams[("collectionrecorder", AGGREGATE)] == AGGREGATE
        assert streams[("ControlCoordinator", AGGREGATE)] == AGGREGATE
>       assert not [port for _instance, port in streams if port.endswith("_joints")]
E       AssertionError: assert not ['arm_joints']

blueprint  = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/xarm_description.tar.gz after 3 attemp...iption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] Blueprint object at 0xff8af0e2c6e0>
streams    = {('ControlCoordinator', 'arm_joints'): 'arm_joints', ('ControlCoordinator', 'coordinator_joint_state'): 'coordinator_j..., 'joint_command'): 'joint_command', ('collectionrecorder', 'coordinator_joint_state'): 'coordinator_joint_state', ...}

.../imitation/collection/test_blueprint.py:47: AssertionError

dimos.robot.test_all_blueprints::test_blueprint_is_valid[openarm-planner-coordinator]

Stack Traces | 0.001s run time

blueprint_name = 'openarm-planner-coordinator'

    @pytest.mark.parametrize("blueprint_name", UBUNTU_BLUEPRINTS)
    def test_blueprint_is_valid(blueprint_name: str) -> None:
        """Validate blueprints that should import on the ubuntu-latest runner."""
>       _check_blueprint(blueprint_name)

blueprint_name = 'openarm-planner-coordinator'

dimos/robot/test_all_blueprints.py:106: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:82: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'openarm-planner-coordinator'
        message    = "cannot import name 'DEFAULT_TRAJECTORY_TASK_NAME' from 'dimos.robot.manipulators.common.topics' (.../manipulators/common/topics.py)"
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'openarm_planner_coordinator'
        module_path = 'dimos.robot.manipulators.openarm.blueprints.basic'
        name       = 'openarm-planner-coordinator'
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # 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.
    
    """Basic OpenArm coordinator blueprints."""
    
    from __future__ import annotations
    
    from dimos.control.coordinator import ControlCoordinator, TaskConfig
    from dimos.core.coordination.blueprints import autoconnect
    from dimos.robot.manipulators.common.blueprints import coordinator, planner
>   from dimos.robot.manipulators.common.topics import DEFAULT_TRAJECTORY_TASK_NAME
E   ImportError: cannot import name 'DEFAULT_TRAJECTORY_TASK_NAME' from 'dimos.robot.manipulators.common.topics' (.../manipulators/common/topics.py)

ControlCoordinator = <class 'dimos.control.coordinator.ControlCoordinator'>
TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
__builtins__ = <builtins>
__cached__ = '.../blueprints/__pycache__/basic.cpython-312.pyc'
__doc__    = 'Basic OpenArm coordinator blueprints.'
__file__   = '.../openarm/blueprints/basic.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff66c89d8c20>
__name__   = 'dimos.robot.manipulators.openarm.blueprints.basic'
__package__ = 'dimos.robot.manipulators.openarm.blueprints'
__spec__   = ModuleSpec(name='dimos.robot.manipulators.openarm.blueprints.basic', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff66c89d8c20>, origin='.../openarm/blueprints/basic.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
autoconnect = <function autoconnect at 0xff679ba85f80>
coordinator = <function coordinator at 0xff6731705940>
planner    = <function planner at 0xff6731705800>

.../openarm/blueprints/basic.py:22: ImportError

dimos.robot.test_all_blueprints::test_blueprint_is_valid[openyam-planner-coordinator]

Stack Traces | 0.001s run time

blueprint_name = 'openyam-planner-coordinator'

    @pytest.mark.parametrize("blueprint_name", UBUNTU_BLUEPRINTS)
    def test_blueprint_is_valid(blueprint_name: str) -> None:
        """Validate blueprints that should import on the ubuntu-latest runner."""
>       _check_blueprint(blueprint_name)

blueprint_name = 'openyam-planner-coordinator'

dimos/robot/test_all_blueprints.py:106: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:82: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'openyam-planner-coordinator'
        message    = "cannot import name 'DEFAULT_TRAJECTORY_TASK_NAME' from 'dimos.robot.manipulators.common.topics' (.../manipulators/common/topics.py)"
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'openyam_planner_coordinator'
        module_path = 'dimos.robot.manipulators.openyam.blueprints.basic'
        name       = 'openyam-planner-coordinator'
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # 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.
    
    """Basic OpenYAM coordinator blueprints."""
    
    from __future__ import annotations
    
    from dimos.control.coordinator import ControlCoordinator, TaskConfig
    from dimos.core.coordination.blueprints import autoconnect
    from dimos.robot.manipulators.common.blueprints import coordinator, planner
>   from dimos.robot.manipulators.common.topics import DEFAULT_TRAJECTORY_TASK_NAME
E   ImportError: cannot import name 'DEFAULT_TRAJECTORY_TASK_NAME' from 'dimos.robot.manipulators.common.topics' (.../manipulators/common/topics.py)

ControlCoordinator = <class 'dimos.control.coordinator.ControlCoordinator'>
TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
__builtins__ = <builtins>
__cached__ = '.../blueprints/__pycache__/basic.cpython-312.pyc'
__doc__    = 'Basic OpenYAM coordinator blueprints.'
__file__   = '.../openyam/blueprints/basic.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff66c8a10860>
__name__   = 'dimos.robot.manipulators.openyam.blueprints.basic'
__package__ = 'dimos.robot.manipulators.openyam.blueprints'
__spec__   = ModuleSpec(name='dimos.robot.manipulators.openyam.blueprints.basic', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff66c8a10860>, origin='.../openyam/blueprints/basic.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
autoconnect = <function autoconnect at 0xff679ba85f80>
coordinator = <function coordinator at 0xff6731705940>
planner    = <function planner at 0xff6731705800>

.../openyam/blueprints/basic.py:22: ImportError

dimos.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[coordinator-openarm]

Stack Traces | 0.002s run time

blueprint_name = 'coordinator-openarm'

    @pytest.mark.parametrize("blueprint_name", _blueprint_params())
    def test_blueprint_atom_kwargs_match_module_config(blueprint_name: str) -> None:
        """Fail when blueprint kwargs cannot be consumed by their target module."""
>       blueprint = _get_blueprint_or_skip(blueprint_name)

blueprint_name = 'coordinator-openarm'

dimos/codebase_checks/test_blueprint_kwargs.py:91: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/codebase_checks/test_blueprint_kwargs.py:36: in _get_blueprint_or_skip
    return get_blueprint_by_name(blueprint_name)
        blueprint_name = 'coordinator-openarm'
        message    = "cannot import name 'DEFAULT_TRAJECTORY_TASK_NAME' from 'dimos.robot.manipulators.common.topics' (.../manipulators/common/topics.py)"
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'coordinator_openarm'
        module_path = 'dimos.robot.manipulators.openarm.blueprints.basic'
        name       = 'coordinator-openarm'
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # 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.
    
    """Basic OpenArm coordinator blueprints."""
    
    from __future__ import annotations
    
    from dimos.control.coordinator import ControlCoordinator, TaskConfig
    from dimos.core.coordination.blueprints import autoconnect
    from dimos.robot.manipulators.common.blueprints import coordinator, planner
>   from dimos.robot.manipulators.common.topics import DEFAULT_TRAJECTORY_TASK_NAME
E   ImportError: cannot import name 'DEFAULT_TRAJECTORY_TASK_NAME' from 'dimos.robot.manipulators.common.topics' (.../manipulators/common/topics.py)

ControlCoordinator = <class 'dimos.control.coordinator.ControlCoordinator'>
TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
__builtins__ = <builtins>
__cached__ = '.../blueprints/__pycache__/basic.cpython-312.pyc'
__doc__    = 'Basic OpenArm coordinator blueprints.'
__file__   = '.../openarm/blueprints/basic.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff5305d9c380>
__name__   = 'dimos.robot.manipulators.openarm.blueprints.basic'
__package__ = 'dimos.robot.manipulators.openarm.blueprints'
__spec__   = ModuleSpec(name='dimos.robot.manipulators.openarm.blueprints.basic', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff5305d9c380>, origin='.../openarm/blueprints/basic.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
autoconnect = <function autoconnect at 0xff537df49f80>
coordinator = <function coordinator at 0xff5313a1f240>
planner    = <function planner at 0xff5313a1f100>

.../openarm/blueprints/basic.py:22: ImportError

dimos.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[coordinator-openyam]

Stack Traces | 0.002s run time

blueprint_name = 'coordinator-openyam'

    @pytest.mark.parametrize("blueprint_name", _blueprint_params())
    def test_blueprint_atom_kwargs_match_module_config(blueprint_name: str) -> None:
        """Fail when blueprint kwargs cannot be consumed by their target module."""
>       blueprint = _get_blueprint_or_skip(blueprint_name)

blueprint_name = 'coordinator-openyam'

dimos/codebase_checks/test_blueprint_kwargs.py:91: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/codebase_checks/test_blueprint_kwargs.py:36: in _get_blueprint_or_skip
    return get_blueprint_by_name(blueprint_name)
        blueprint_name = 'coordinator-openyam'
        message    = "cannot import name 'DEFAULT_TRAJECTORY_TASK_NAME' from 'dimos.robot.manipulators.common.topics' (.../manipulators/common/topics.py)"
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'coordinator_openyam'
        module_path = 'dimos.robot.manipulators.openyam.blueprints.basic'
        name       = 'coordinator-openyam'
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # 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.
    
    """Basic OpenYAM coordinator blueprints."""
    
    from __future__ import annotations
    
    from dimos.control.coordinator import ControlCoordinator, TaskConfig
    from dimos.core.coordination.blueprints import autoconnect
    from dimos.robot.manipulators.common.blueprints import coordinator, planner
>   from dimos.robot.manipulators.common.topics import DEFAULT_TRAJECTORY_TASK_NAME
E   ImportError: cannot import name 'DEFAULT_TRAJECTORY_TASK_NAME' from 'dimos.robot.manipulators.common.topics' (.../manipulators/common/topics.py)

ControlCoordinator = <class 'dimos.control.coordinator.ControlCoordinator'>
TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
__builtins__ = <builtins>
__cached__ = '.../blueprints/__pycache__/basic.cpython-312.pyc'
__doc__    = 'Basic OpenYAM coordinator blueprints.'
__file__   = '.../openyam/blueprints/basic.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff5313db6b10>
__name__   = 'dimos.robot.manipulators.openyam.blueprints.basic'
__package__ = 'dimos.robot.manipulators.openyam.blueprints'
__spec__   = ModuleSpec(name='dimos.robot.manipulators.openyam.blueprints.basic', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff5313db6b10>, origin='.../openyam/blueprints/basic.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
autoconnect = <function autoconnect at 0xff537df49f80>
coordinator = <function coordinator at 0xff5313a1f240>
planner    = <function planner at 0xff5313a1f100>

.../openyam/blueprints/basic.py:22: ImportError

dimos.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[keyboard-teleop-openyam-planner]

Stack Traces | 0.002s run time

blueprint_name = 'keyboard-teleop-openyam-planner'

    @pytest.mark.parametrize("blueprint_name", _blueprint_params())
    def test_blueprint_atom_kwargs_match_module_config(blueprint_name: str) -> None:
        """Fail when blueprint kwargs cannot be consumed by their target module."""
>       blueprint = _get_blueprint_or_skip(blueprint_name)

blueprint_name = 'keyboard-teleop-openyam-planner'

dimos/codebase_checks/test_blueprint_kwargs.py:91: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/codebase_checks/test_blueprint_kwargs.py:36: in _get_blueprint_or_skip
    return get_blueprint_by_name(blueprint_name)
        blueprint_name = 'keyboard-teleop-openyam-planner'
        message    = "cannot import name 'DEFAULT_TRAJECTORY_TASK_NAME' from 'dimos.robot.manipulators.common.topics' (.../manipulators/common/topics.py)"
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'keyboard_teleop_openyam_planner'
        module_path = 'dimos.robot.manipulators.openyam.blueprints.teleop'
        name       = 'keyboard-teleop-openyam-planner'
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # 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.
    
    """OpenYAM keyboard teleop blueprints."""
    
    from __future__ import annotations
    
    from dimos.control.coordinator import TaskConfig
    from dimos.core.coordination.blueprints import autoconnect
    from dimos.manipulation.manipulation_module import ManipulationModule
    from dimos.robot.manipulators.common.blueprints import (
        coordinator,
        planner,
    )
    from dimos.robot.manipulators.common.coordinators import (
        ArmTwistCoordinator,
    )
>   from dimos.robot.manipulators.common.topics import (
        DEFAULT_TRAJECTORY_TASK_NAME,
        EEF_TWIST_TASK_NAME,
    )
E   ImportError: cannot import name 'DEFAULT_TRAJECTORY_TASK_NAME' from 'dimos.robot.manipulators.common.topics' (.../manipulators/common/topics.py)

ArmTwistCoordinator = <class 'dimos.robot.manipulators.common.coordinators.ArmTwistCoordinator'>
ManipulationModule = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
__builtins__ = <builtins>
__cached__ = '.../blueprints/__pycache__/teleop.cpython-312.pyc'
__doc__    = 'OpenYAM keyboard teleop blueprints.'
__file__   = '.../openyam/blueprints/teleop.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff529b3e56a0>
__name__   = 'dimos.robot.manipulators.openyam.blueprints.teleop'
__package__ = 'dimos.robot.manipulators.openyam.blueprints'
__spec__   = ModuleSpec(name='dimos.robot.manipulators.openyam.blueprints.teleop', loader=<_frozen_importlib_external.SourceFileLoa...bject at 0xff529b3e56a0>, origin='.../openyam/blueprints/teleop.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
autoconnect = <function autoconnect at 0xff537df49f80>
coordinator = <function coordinator at 0xff5313a1f240>
planner    = <function planner at 0xff5313a1f100>

.../openyam/blueprints/teleop.py:29: ImportError

dimos.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[keyboard-teleop-openyam]

Stack Traces | 0.002s run time

blueprint_name = 'keyboard-teleop-openyam'

    @pytest.mark.parametrize("blueprint_name", _blueprint_params())
    def test_blueprint_atom_kwargs_match_module_config(blueprint_name: str) -> None:
        """Fail when blueprint kwargs cannot be consumed by their target module."""
>       blueprint = _get_blueprint_or_skip(blueprint_name)

blueprint_name = 'keyboard-teleop-openyam'

dimos/codebase_checks/test_blueprint_kwargs.py:91: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/codebase_checks/test_blueprint_kwargs.py:36: in _get_blueprint_or_skip
    return get_blueprint_by_name(blueprint_name)
        blueprint_name = 'keyboard-teleop-openyam'
        message    = "cannot import name 'DEFAULT_TRAJECTORY_TASK_NAME' from 'dimos.robot.manipulators.common.topics' (.../manipulators/common/topics.py)"
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'keyboard_teleop_openyam'
        module_path = 'dimos.robot.manipulators.openyam.blueprints.teleop'
        name       = 'keyboard-teleop-openyam'
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # 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.
    
    """OpenYAM keyboard teleop blueprints."""
    
    from __future__ import annotations
    
    from dimos.control.coordinator import TaskConfig
    from dimos.core.coordination.blueprints import autoconnect
    from dimos.manipulation.manipulation_module import ManipulationModule
    from dimos.robot.manipulators.common.blueprints import (
        coordinator,
        planner,
    )
    from dimos.robot.manipulators.common.coordinators import (
        ArmTwistCoordinator,
    )
>   from dimos.robot.manipulators.common.topics import (
        DEFAULT_TRAJECTORY_TASK_NAME,
        EEF_TWIST_TASK_NAME,
    )
E   ImportError: cannot import name 'DEFAULT_TRAJECTORY_TASK_NAME' from 'dimos.robot.manipulators.common.topics' (.../manipulators/common/topics.py)

ArmTwistCoordinator = <class 'dimos.robot.manipulators.common.coordinators.ArmTwistCoordinator'>
ManipulationModule = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
__builtins__ = <builtins>
__cached__ = '.../blueprints/__pycache__/teleop.cpython-312.pyc'
__doc__    = 'OpenYAM keyboard teleop blueprints.'
__file__   = '.../openyam/blueprints/teleop.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff529b3e4800>
__name__   = 'dimos.robot.manipulators.openyam.blueprints.teleop'
__package__ = 'dimos.robot.manipulators.openyam.blueprints'
__spec__   = ModuleSpec(name='dimos.robot.manipulators.openyam.blueprints.teleop', loader=<_frozen_importlib_external.SourceFileLoa...bject at 0xff529b3e4800>, origin='.../openyam/blueprints/teleop.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
autoconnect = <function autoconnect at 0xff537df49f80>
coordinator = <function coordinator at 0xff5313a1f240>
planner    = <function planner at 0xff5313a1f100>

.../openyam/blueprints/teleop.py:29: ImportError

dimos.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[openarm-planner-coordinator]

Stack Traces | 0.002s run time

blueprint_name = 'openarm-planner-coordinator'

    @pytest.mark.parametrize("blueprint_name", _blueprint_params())
    def test_blueprint_atom_kwargs_match_module_config(blueprint_name: str) -> None:
        """Fail when blueprint kwargs cannot be consumed by their target module."""
>       blueprint = _get_blueprint_or_skip(blueprint_name)

blueprint_name = 'openarm-planner-coordinator'

dimos/codebase_checks/test_blueprint_kwargs.py:91: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/codebase_checks/test_blueprint_kwargs.py:36: in _get_blueprint_or_skip
    return get_blueprint_by_name(blueprint_name)
        blueprint_name = 'openarm-planner-coordinator'
        message    = "cannot import name 'DEFAULT_TRAJECTORY_TASK_NAME' from 'dimos.robot.manipulators.common.topics' (.../manipulators/common/topics.py)"
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'openarm_planner_coordinator'
        module_path = 'dimos.robot.manipulators.openarm.blueprints.basic'
        name       = 'openarm-planner-coordinator'
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # 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.
    
    """Basic OpenArm coordinator blueprints."""
    
    from __future__ import annotations
    
    from dimos.control.coordinator import ControlCoordinator, TaskConfig
    from dimos.core.coordination.blueprints import autoconnect
    from dimos.robot.manipulators.common.blueprints import coordinator, planner
>   from dimos.robot.manipulators.common.topics import DEFAULT_TRAJECTORY_TASK_NAME
E   ImportError: cannot import name 'DEFAULT_TRAJECTORY_TASK_NAME' from 'dimos.robot.manipulators.common.topics' (.../manipulators/common/topics.py)

ControlCoordinator = <class 'dimos.control.coordinator.ControlCoordinator'>
TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
__builtins__ = <builtins>
__cached__ = '.../blueprints/__pycache__/basic.cpython-312.pyc'
__doc__    = 'Basic OpenArm coordinator blueprints.'
__file__   = '.../openarm/blueprints/basic.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff529b3e5040>
__name__   = 'dimos.robot.manipulators.openarm.blueprints.basic'
__package__ = 'dimos.robot.manipulators.openarm.blueprints'
__spec__   = ModuleSpec(name='dimos.robot.manipulators.openarm.blueprints.basic', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff529b3e5040>, origin='.../openarm/blueprints/basic.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
autoconnect = <function autoconnect at 0xff537df49f80>
coordinator = <function coordinator at 0xff5313a1f240>
planner    = <function planner at 0xff5313a1f100>

.../openarm/blueprints/basic.py:22: ImportError

dimos.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[openyam-planner-coordinator]

Stack Traces | 0.002s run time

blueprint_name = 'openyam-planner-coordinator'

    @pytest.mark.parametrize("blueprint_name", _blueprint_params())
    def test_blueprint_atom_kwargs_match_module_config(blueprint_name: str) -> None:
        """Fail when blueprint kwargs cannot be consumed by their target module."""
>       blueprint = _get_blueprint_or_skip(blueprint_name)

blueprint_name = 'openyam-planner-coordinator'

dimos/codebase_checks/test_blueprint_kwargs.py:91: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/codebase_checks/test_blueprint_kwargs.py:36: in _get_blueprint_or_skip
    return get_blueprint_by_name(blueprint_name)
        blueprint_name = 'openyam-planner-coordinator'
        message    = "cannot import name 'DEFAULT_TRAJECTORY_TASK_NAME' from 'dimos.robot.manipulators.common.topics' (.../manipulators/common/topics.py)"
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'openyam_planner_coordinator'
        module_path = 'dimos.robot.manipulators.openyam.blueprints.basic'
        name       = 'openyam-planner-coordinator'
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # 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.
    
    """Basic OpenYAM coordinator blueprints."""
    
    from __future__ import annotations
    
    from dimos.control.coordinator import ControlCoordinator, TaskConfig
    from dimos.core.coordination.blueprints import autoconnect
    from dimos.robot.manipulators.common.blueprints import coordinator, planner
>   from dimos.robot.manipulators.common.topics import DEFAULT_TRAJECTORY_TASK_NAME
E   ImportError: cannot import name 'DEFAULT_TRAJECTORY_TASK_NAME' from 'dimos.robot.manipulators.common.topics' (.../manipulators/common/topics.py)

ControlCoordinator = <class 'dimos.control.coordinator.ControlCoordinator'>
TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
__builtins__ = <builtins>
__cached__ = '.../blueprints/__pycache__/basic.cpython-312.pyc'
__doc__    = 'Basic OpenYAM coordinator blueprints.'
__file__   = '.../openyam/blueprints/basic.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff529b38c8f0>
__name__   = 'dimos.robot.manipulators.openyam.blueprints.basic'
__package__ = 'dimos.robot.manipulators.openyam.blueprints'
__spec__   = ModuleSpec(name='dimos.robot.manipulators.openyam.blueprints.basic', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff529b38c8f0>, origin='.../openyam/blueprints/basic.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
autoconnect = <function autoconnect at 0xff537df49f80>
coordinator = <function coordinator at 0xff5313a1f240>
planner    = <function planner at 0xff5313a1f100>

.../openyam/blueprints/basic.py:22: ImportError

dimos.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[teleop-quest-dual-openyam]

Stack Traces | 0.002s run time

blueprint_name = 'teleop-quest-dual-openyam'

    @pytest.mark.parametrize("blueprint_name", _blueprint_params())
    def test_blueprint_atom_kwargs_match_module_config(blueprint_name: str) -> None:
        """Fail when blueprint kwargs cannot be consumed by their target module."""
        blueprint = _get_blueprint_or_skip(blueprint_name)
    
        violations: list[str] = []
        for atom in blueprint.blueprints:
            unknown_kwargs = sorted(set(atom.kwargs) - _allowed_kwarg_names(atom.module))
            if unknown_kwargs:
                violations.append(
                    f"{atom.module.__module__}.{atom.module.__name__}: unknown kwargs {unknown_kwargs}"
                )
    
        if violations:
            listing = "\n".join(f"  - {violation}" for violation in violations)
>           raise AssertionError(
                f"Blueprint {blueprint_name!r} passes unknown module kwargs:\n{listing}\n\n"
                "Blueprint kwargs are forwarded into the module constructor. For modules "
                "with an explicit `config` annotation, use fields from that config model; "
                "for legacy modules with direct constructor parameters, use the declared "
                "`__init__` keyword names."
            )
E           AssertionError: Blueprint 'teleop-quest-dual-openyam' passes unknown module kwargs:
E             - dimos.teleop.quest.quest_extensions.ArmTeleopModule: unknown kwargs ['task_names']
E           
E           Blueprint kwargs are forwarded into the module constructor. For modules with an explicit `config` annotation, use fields from that config model; for legacy modules with direct constructor parameters, use the declared `__init__` keyword names.

atom       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] BlueprintAtom object at 0xff529bec0e90>
blueprint  = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] Blueprint object at 0xff529bec0350>
blueprint_name = 'teleop-quest-dual-openyam'
listing    = "  - dimos.teleop.quest.quest_extensions.ArmTeleopModule: unknown kwargs ['task_names']"
unknown_kwargs = []
violations = ["dimos.teleop.quest.quest_extensions.ArmTeleopModule: unknown kwargs ['task_names']"]

dimos/codebase_checks/test_blueprint_kwargs.py:103: AssertionError

dimos.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[teleop-quest-openarm]

Stack Traces | 0.002s run time

blueprint_name = 'teleop-quest-openarm'

    @pytest.mark.parametrize("blueprint_name", _blueprint_params())
    def test_blueprint_atom_kwargs_match_module_config(blueprint_name: str) -> None:
        """Fail when blueprint kwargs cannot be consumed by their target module."""
        blueprint = _get_blueprint_or_skip(blueprint_name)
    
        violations: list[str] = []
        for atom in blueprint.blueprints:
            unknown_kwargs = sorted(set(atom.kwargs) - _allowed_kwarg_names(atom.module))
            if unknown_kwargs:
                violations.append(
                    f"{atom.module.__module__}.{atom.module.__name__}: unknown kwargs {unknown_kwargs}"
                )
    
        if violations:
            listing = "\n".join(f"  - {violation}" for violation in violations)
>           raise AssertionError(
                f"Blueprint {blueprint_name!r} passes unknown module kwargs:\n{listing}\n\n"
                "Blueprint kwargs are forwarded into the module constructor. For modules "
                "with an explicit `config` annotation, use fields from that config model; "
                "for legacy modules with direct constructor parameters, use the declared "
                "`__init__` keyword names."
            )
E           AssertionError: Blueprint 'teleop-quest-openarm' passes unknown module kwargs:
E             - dimos.teleop.quest.quest_extensions.ArmTeleopModule: unknown kwargs ['task_names']
E           
E           Blueprint kwargs are forwarded into the module constructor. For modules with an explicit `config` annotation, use fields from that config model; for legacy modules with direct constructor parameters, use the declared `__init__` keyword names.

atom       = BlueprintAtom(kwargs={'kinematics': PinkKinematicsConfig(backend='pink', solver='proxqp', dt=0.01, max_iterations=200,...ntrol_coordinator', spec=<class 'dimos.control.coordinator.ControlCoordinator'>, optional=False),), instance_name=None)
blueprint  = Blueprint(blueprints=(BlueprintAtom(kwargs={'task_names': {'left': 'teleop_openarm', 'right': 'teleop_openarm'}}, modu...mteleopmodule', 'right_controller_output'): 'right_cartesian_command'}), requirement_checks=(), configurator_checks=())
blueprint_name = 'teleop-quest-openarm'
listing    = "  - dimos.teleop.quest.quest_extensions.ArmTeleopModule: unknown kwargs ['task_names']"
unknown_kwargs = []
violations = ["dimos.teleop.quest.quest_extensions.ArmTeleopModule: unknown kwargs ['task_names']"]

dimos/codebase_checks/test_blueprint_kwargs.py:103: AssertionError

dimos.imitation.collection.test_blueprint::test_recorder_reads_aggregate_joint_state[blueprint1]

Stack Traces | 0.002s run time

blueprint = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/piper_description.tar.gz after 3 attem...iption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] Blueprint object at 0xff8af0e3b590>

    @pytest.mark.parametrize("blueprint", [learning_collect_quest_xarm7, learning_collect_quest_piper])
    def test_recorder_reads_aggregate_joint_state(blueprint: Blueprint) -> None:
        streams = _joint_streams(blueprint)
    
        # Plain name pairing on both ends, no remap in between. The coordinator
        # atom carries its explicit instance_name (the RPC lookup contract).
        assert streams[("collectionrecorder", AGGREGATE)] == AGGREGATE
        assert streams[("ControlCoordinator", AGGREGATE)] == AGGREGATE
>       assert not [port for _instance, port in streams if port.endswith("_joints")]
E       AssertionError: assert not ['arm_joints']

blueprint  = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/piper_description.tar.gz after 3 attem...iption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] Blueprint object at 0xff8af0e3b590>
streams    = {('ControlCoordinator', 'arm_joints'): 'arm_joints', ('ControlCoordinator', 'coordinator_joint_state'): 'coordinator_j..., 'joint_command'): 'joint_command', ('collectionrecorder', 'coordinator_joint_state'): 'coordinator_joint_state', ...}

.../imitation/collection/test_blueprint.py:47: AssertionError

dimos.robot.test_all_blueprints::test_blueprint_is_valid[coordinator-openarm]

Stack Traces | 0.002s run time

blueprint_name = 'coordinator-openarm'

    @pytest.mark.parametrize("blueprint_name", UBUNTU_BLUEPRINTS)
    def test_blueprint_is_valid(blueprint_name: str) -> None:
        """Validate blueprints that should import on the ubuntu-latest runner."""
>       _check_blueprint(blueprint_name)

blueprint_name = 'coordinator-openarm'

dimos/robot/test_all_blueprints.py:106: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:82: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'coordinator-openarm'
        message    = "cannot import name 'DEFAULT_TRAJECTORY_TASK_NAME' from 'dimos.robot.manipulators.common.topics' (.../manipulators/common/topics.py)"
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'coordinator_openarm'
        module_path = 'dimos.robot.manipulators.openarm.blueprints.basic'
        name       = 'coordinator-openarm'
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # 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.
    
    """Basic OpenArm coordinator blueprints."""
    
    from __future__ import annotations
    
    from dimos.control.coordinator import ControlCoordinator, TaskConfig
    from dimos.core.coordination.blueprints import autoconnect
    from dimos.robot.manipulators.common.blueprints import coordinator, planner
>   from dimos.robot.manipulators.common.topics import DEFAULT_TRAJECTORY_TASK_NAME
E   ImportError: cannot import name 'DEFAULT_TRAJECTORY_TASK_NAME' from 'dimos.robot.manipulators.common.topics' (.../manipulators/common/topics.py)

ControlCoordinator = <class 'dimos.control.coordinator.ControlCoordinator'>
TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
__builtins__ = <builtins>
__cached__ = '.../blueprints/__pycache__/basic.cpython-312.pyc'
__doc__    = 'Basic OpenArm coordinator blueprints.'
__file__   = '.../openarm/blueprints/basic.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff672372db50>
__name__   = 'dimos.robot.manipulators.openarm.blueprints.basic'
__package__ = 'dimos.robot.manipulators.openarm.blueprints'
__spec__   = ModuleSpec(name='dimos.robot.manipulators.openarm.blueprints.basic', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff672372db50>, origin='.../openarm/blueprints/basic.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
autoconnect = <function autoconnect at 0xff679ba85f80>
coordinator = <function coordinator at 0xff6731705940>
planner    = <function planner at 0xff6731705800>

.../openarm/blueprints/basic.py:22: ImportError

dimos.robot.test_all_blueprints::test_blueprint_is_valid[coordinator-openyam]

Stack Traces | 0.002s run time

blueprint_name = 'coordinator-openyam'

    @pytest.mark.parametrize("blueprint_name", UBUNTU_BLUEPRINTS)
    def test_blueprint_is_valid(blueprint_name: str) -> None:
        """Validate blueprints that should import on the ubuntu-latest runner."""
>       _check_blueprint(blueprint_name)

blueprint_name = 'coordinator-openyam'

dimos/robot/test_all_blueprints.py:106: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:82: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'coordinator-openyam'
        message    = "cannot import name 'DEFAULT_TRAJECTORY_TASK_NAME' from 'dimos.robot.manipulators.common.topics' (.../manipulators/common/topics.py)"
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'coordinator_openyam'
        module_path = 'dimos.robot.manipulators.openyam.blueprints.basic'
        name       = 'coordinator-openyam'
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # 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.
    
    """Basic OpenYAM coordinator blueprints."""
    
    from __future__ import annotations
    
    from dimos.control.coordinator import ControlCoordinator, TaskConfig
    from dimos.core.coordination.blueprints import autoconnect
    from dimos.robot.manipulators.common.blueprints import coordinator, planner
>   from dimos.robot.manipulators.common.topics import DEFAULT_TRAJECTORY_TASK_NAME
E   ImportError: cannot import name 'DEFAULT_TRAJECTORY_TASK_NAME' from 'dimos.robot.manipulators.common.topics' (.../manipulators/common/topics.py)

ControlCoordinator = <class 'dimos.control.coordinator.ControlCoordinator'>
TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
__builtins__ = <builtins>
__cached__ = '.../blueprints/__pycache__/basic.cpython-312.pyc'
__doc__    = 'Basic OpenYAM coordinator blueprints.'
__file__   = '.../openyam/blueprints/basic.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff67270da450>
__name__   = 'dimos.robot.manipulators.openyam.blueprints.basic'
__package__ = 'dimos.robot.manipulators.openyam.blueprints'
__spec__   = ModuleSpec(name='dimos.robot.manipulators.openyam.blueprints.basic', loader=<_frozen_importlib_external.SourceFileLoader object at 0xff67270da450>, origin='.../openyam/blueprints/basic.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
autoconnect = <function autoconnect at 0xff679ba85f80>
coordinator = <function coordinator at 0xff6731705940>
planner    = <function planner at 0xff6731705800>

.../openyam/blueprints/basic.py:22: ImportError

dimos.robot.test_all_blueprints::test_blueprint_is_valid[keyboard-teleop-openyam-planner]

Stack Traces | 0.002s run time

blueprint_name = 'keyboard-teleop-openyam-planner'

    @pytest.mark.parametrize("blueprint_name", UBUNTU_BLUEPRINTS)
    def test_blueprint_is_valid(blueprint_name: str) -> None:
        """Validate blueprints that should import on the ubuntu-latest runner."""
>       _check_blueprint(blueprint_name)

blueprint_name = 'keyboard-teleop-openyam-planner'

dimos/robot/test_all_blueprints.py:106: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:82: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'keyboard-teleop-openyam-planner'
        message    = "cannot import name 'DEFAULT_TRAJECTORY_TASK_NAME' from 'dimos.robot.manipulators.common.topics' (.../manipulators/common/topics.py)"
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'keyboard_teleop_openyam_planner'
        module_path = 'dimos.robot.manipulators.openyam.blueprints.teleop'
        name       = 'keyboard-teleop-openyam-planner'
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # 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.
    
    """OpenYAM keyboard teleop blueprints."""
    
    from __future__ import annotations
    
    from dimos.control.coordinator import TaskConfig
    from dimos.core.coordination.blueprints import autoconnect
    from dimos.manipulation.manipulation_module import ManipulationModule
    from dimos.robot.manipulators.common.blueprints import (
        coordinator,
        planner,
    )
    from dimos.robot.manipulators.common.coordinators import (
        ArmTwistCoordinator,
    )
>   from dimos.robot.manipulators.common.topics import (
        DEFAULT_TRAJECTORY_TASK_NAME,
        EEF_TWIST_TASK_NAME,
    )
E   ImportError: cannot import name 'DEFAULT_TRAJECTORY_TASK_NAME' from 'dimos.robot.manipulators.common.topics' (.../manipulators/common/topics.py)

ArmTwistCoordinator = <class 'dimos.robot.manipulators.common.coordinators.ArmTwistCoordinator'>
ManipulationModule = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
__builtins__ = <builtins>
__cached__ = '.../blueprints/__pycache__/teleop.cpython-312.pyc'
__doc__    = 'OpenYAM keyboard teleop blueprints.'
__file__   = '.../openyam/blueprints/teleop.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff66c89d8740>
__name__   = 'dimos.robot.manipulators.openyam.blueprints.teleop'
__package__ = 'dimos.robot.manipulators.openyam.blueprints'
__spec__   = ModuleSpec(name='dimos.robot.manipulators.openyam.blueprints.teleop', loader=<_frozen_importlib_external.SourceFileLoa...bject at 0xff66c89d8740>, origin='.../openyam/blueprints/teleop.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
autoconnect = <function autoconnect at 0xff679ba85f80>
coordinator = <function coordinator at 0xff6731705940>
planner    = <function planner at 0xff6731705800>

.../openyam/blueprints/teleop.py:29: ImportError

dimos.robot.test_all_blueprints::test_blueprint_is_valid[keyboard-teleop-openyam]

Stack Traces | 0.002s run time

blueprint_name = 'keyboard-teleop-openyam'

    @pytest.mark.parametrize("blueprint_name", UBUNTU_BLUEPRINTS)
    def test_blueprint_is_valid(blueprint_name: str) -> None:
        """Validate blueprints that should import on the ubuntu-latest runner."""
>       _check_blueprint(blueprint_name)

blueprint_name = 'keyboard-teleop-openyam'

dimos/robot/test_all_blueprints.py:106: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:82: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'keyboard-teleop-openyam'
        message    = "cannot import name 'DEFAULT_TRAJECTORY_TASK_NAME' from 'dimos.robot.manipulators.common.topics' (.../manipulators/common/topics.py)"
dimos/robot/get_all_blueprints.py:51: in get_blueprint_by_name
    module = __import__(module_path, fromlist=[attr])
        attr       = 'keyboard_teleop_openyam'
        module_path = 'dimos.robot.manipulators.openyam.blueprints.teleop'
        name       = 'keyboard-teleop-openyam'
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    # 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.
    
    """OpenYAM keyboard teleop blueprints."""
    
    from __future__ import annotations
    
    from dimos.control.coordinator import TaskConfig
    from dimos.core.coordination.blueprints import autoconnect
    from dimos.manipulation.manipulation_module import ManipulationModule
    from dimos.robot.manipulators.common.blueprints import (
        coordinator,
        planner,
    )
    from dimos.robot.manipulators.common.coordinators import (
        ArmTwistCoordinator,
    )
>   from dimos.robot.manipulators.common.topics import (
        DEFAULT_TRAJECTORY_TASK_NAME,
        EEF_TWIST_TASK_NAME,
    )
E   ImportError: cannot import name 'DEFAULT_TRAJECTORY_TASK_NAME' from 'dimos.robot.manipulators.common.topics' (.../manipulators/common/topics.py)

ArmTwistCoordinator = <class 'dimos.robot.manipulators.common.coordinators.ArmTwistCoordinator'>
ManipulationModule = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
__builtins__ = <builtins>
__cached__ = '.../blueprints/__pycache__/teleop.cpython-312.pyc'
__doc__    = 'OpenYAM keyboard teleop blueprints.'
__file__   = '.../openyam/blueprints/teleop.py'
__loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff66c89baf60>
__name__   = 'dimos.robot.manipulators.openyam.blueprints.teleop'
__package__ = 'dimos.robot.manipulators.openyam.blueprints'
__spec__   = ModuleSpec(name='dimos.robot.manipulators.openyam.blueprints.teleop', loader=<_frozen_importlib_external.SourceFileLoa...bject at 0xff66c89baf60>, origin='.../openyam/blueprints/teleop.py')
annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
autoconnect = <function autoconnect at 0xff679ba85f80>
coordinator = <function coordinator at 0xff6731705940>
planner    = <function planner at 0xff6731705800>

.../openyam/blueprints/teleop.py:29: ImportError

dimos.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[keyboard-teleop-openarm]

Stack Traces | 0.003s run time

blueprint_name = 'keyboard-teleop-openarm'

    @pytest.mark.parametrize("blueprint_name", _blueprint_params())
    def test_blueprint_atom_kwargs_match_module_config(blueprint_name: str) -> None:
        """Fail when blueprint kwargs cannot be consumed by their target module."""
        blueprint = _get_blueprint_or_skip(blueprint_name)
    
        violations: list[str] = []
        for atom in blueprint.blueprints:
            unknown_kwargs = sorted(set(atom.kwargs) - _allowed_kwarg_names(atom.module))
            if unknown_kwargs:
                violations.append(
                    f"{atom.module.__module__}.{atom.module.__name__}: unknown kwargs {unknown_kwargs}"
                )
    
        if violations:
            listing = "\n".join(f"  - {violation}" for violation in violations)
>           raise AssertionError(
                f"Blueprint {blueprint_name!r} passes unknown module kwargs:\n{listing}\n\n"
                "Blueprint kwargs are forwarded into the module constructor. For modules "
                "with an explicit `config` annotation, use fields from that config model; "
                "for legacy modules with direct constructor parameters, use the declared "
                "`__init__` keyword names."
            )
E           AssertionError: Blueprint 'keyboard-teleop-openarm' passes unknown module kwargs:
E             - dimos.teleop.keyboard.keyboard_teleop_module.KeyboardTeleopModule: unknown kwargs ['task_name']
E           
E           Blueprint kwargs are forwarded into the module constructor. For modules with an explicit `config` annotation, use fields from that config model; for legacy modules with direct constructor parameters, use the declared `__init__` keyword names.

atom       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/openarm_description.tar.gz after 3 att...on.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] BlueprintAtom object at 0xff529bed54f0>
blueprint  = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/openarm_description.tar.gz after 3 att...iption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] Blueprint object at 0xff529bed4bc0>
blueprint_name = 'keyboard-teleop-openarm'
listing    = "  - dimos.teleop.keyboard.keyboard_teleop_module.KeyboardTeleopModule: unknown kwargs ['task_name']"
unknown_kwargs = []
violations = ["dimos.teleop.keyboard.keyboard_teleop_module.KeyboardTeleopModule: unknown kwargs ['task_name']"]

dimos/codebase_checks/test_blueprint_kwargs.py:103: AssertionError

dimos.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[keyboard-teleop-openarm-planner]

Stack Traces | 0.004s run time

blueprint_name = 'keyboard-teleop-openarm-planner'

    @pytest.mark.parametrize("blueprint_name", _blueprint_params())
    def test_blueprint_atom_kwargs_match_module_config(blueprint_name: str) -> None:
        """Fail when blueprint kwargs cannot be consumed by their target module."""
        blueprint = _get_blueprint_or_skip(blueprint_name)
    
        violations: list[str] = []
        for atom in blueprint.blueprints:
            unknown_kwargs = sorted(set(atom.kwargs) - _allowed_kwarg_names(atom.module))
            if unknown_kwargs:
                violations.append(
                    f"{atom.module.__module__}.{atom.module.__name__}: unknown kwargs {unknown_kwargs}"
                )
    
        if violations:
            listing = "\n".join(f"  - {violation}" for violation in violations)
>           raise AssertionError(
                f"Blueprint {blueprint_name!r} passes unknown module kwargs:\n{listing}\n\n"
                "Blueprint kwargs are forwarded into the module constructor. For modules "
                "with an explicit `config` annotation, use fields from that config model; "
                "for legacy modules with direct constructor parameters, use the declared "
                "`__init__` keyword names."
            )
E           AssertionError: Blueprint 'keyboard-teleop-openarm-planner' passes unknown module kwargs:
E             - dimos.teleop.keyboard.keyboard_teleop_module.KeyboardTeleopModule: unknown kwargs ['task_name']
E           
E           Blueprint kwargs are forwarded into the module constructor. For modules with an explicit `config` annotation, use fields from that config model; for legacy modules with direct constructor parameters, use the declared `__init__` keyword names.

atom       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/openarm_description.tar.gz after 3 att...on.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] BlueprintAtom object at 0xff529bed5100>
blueprint  = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/openarm_description.tar.gz after 3 att...iption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] Blueprint object at 0xff529bed5850>
blueprint_name = 'keyboard-teleop-openarm-planner'
listing    = "  - dimos.teleop.keyboard.keyboard_teleop_module.KeyboardTeleopModule: unknown kwargs ['task_name']"
unknown_kwargs = []
violations = ["dimos.teleop.keyboard.keyboard_teleop_module.KeyboardTeleopModule: unknown kwargs ['task_name']"]

dimos/codebase_checks/test_blueprint_kwargs.py:103: AssertionError

dimos.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[unitree-g1-teleop]

Stack Traces | 0.006s run time

blueprint_name = 'unitree-g1-teleop'

    @pytest.mark.parametrize("blueprint_name", _blueprint_params())
    def test_blueprint_atom_kwargs_match_module_config(blueprint_name: str) -> None:
        """Fail when blueprint kwargs cannot be consumed by their target module."""
        blueprint = _get_blueprint_or_skip(blueprint_name)
    
        violations: list[str] = []
        for atom in blueprint.blueprints:
            unknown_kwargs = sorted(set(atom.kwargs) - _allowed_kwarg_names(atom.module))
            if unknown_kwargs:
                violations.append(
                    f"{atom.module.__module__}.{atom.module.__name__}: unknown kwargs {unknown_kwargs}"
                )
    
        if violations:
            listing = "\n".join(f"  - {violation}" for violation in violations)
>           raise AssertionError(
                f"Blueprint {blueprint_name!r} passes unknown module kwargs:\n{listing}\n\n"
                "Blueprint kwargs are forwarded into the module constructor. For modules "
                "with an explicit `config` annotation, use fields from that config model; "
                "for legacy modules with direct constructor parameters, use the declared "
                "`__init__` keyword names."
            )
E           AssertionError: Blueprint 'unitree-g1-teleop' passes unknown module kwargs:
E             - dimos.teleop.quest.quest_extensions.MobileVideoArmTeleopModule: unknown kwargs ['task_names']
E           
E           Blueprint kwargs are forwarded into the module constructor. For modules with an explicit `config` annotation, use fields from that config model; for legacy modules with direct constructor parameters, use the declared `__init__` keyword names.

atom       = BlueprintAtom(kwargs={'db_path': '.../dimos/recordings/session_g1_20260814_220008.db', ... type=<class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>, direction='in')), module_refs=(), instance_name=None)
blueprint  = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/groot.tar.gz after 3 attempts: Command.../groot.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] Blueprint object at 0xff529bbd2a20>
blueprint_name = 'unitree-g1-teleop'
listing    = "  - dimos.teleop.quest.quest_extensions.MobileVideoArmTeleopModule: unknown kwargs ['task_names']"
unknown_kwargs = []
violations = ["dimos.teleop.quest.quest_extensions.MobileVideoArmTeleopModule: unknown kwargs ['task_names']"]

dimos/codebase_checks/test_blueprint_kwargs.py:103: AssertionError

dimos.robot.manipulators.dual_openyam.test_integration::test_authoritative_arm_only_model_prepares_for_viser

Stack Traces | 3.11s run time

def test_authoritative_arm_only_model_prepares_for_viser() -> None:
        config = dual_openyam_model_config()
        prepared = Path(
>           prepare_urdf(
                config.model_path,
                package_paths=config.package_paths,
                convert_meshes=config.auto_convert_meshes,
            )
        )

config     = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModelConfig object at 0xff5298225680>

.../manipulators/dual_openyam/test_integration.py:20: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../planning/utils/mesh_utils.py:75: in prepare_urdf
    urdf_path = Path(urdf_path)
        convert_meshes = True
        package_paths = {'dual_openyam_abc_box': <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_..._box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a73450>}
        urdf_path  = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...c_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a72fd0>
        xacro_args = None
....../usr/lib/python3.12/pathlib.py:1164: in __init__
    super().__init__(*args)
        __class__  = <class 'pathlib.Path'>
        args       = (<[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after ...box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a72fd0>,)
        kwargs     = {}
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xff529a38bf40>
....../usr/lib/python3.12/pathlib.py:362: in __init__
    if arg._flavour is ntpath and self._flavour is posixpath:
        arg        = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...c_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a72fd0>
        args       = (<[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after ...box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a72fd0>,)
        ntpath     = <module 'ntpath' (frozen)>
        paths      = []
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xff529a38bf40>
dimos/utils/data.py:366: in __getattribute__
    resolved = object.__getattribute__(self, "_ensure_downloaded")()
        name       = '_flavour'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...c_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a72fd0>
dimos/utils/data.py:349: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'dual_openyam_abc_box_v2/dual_openyam.urdf'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...c_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a72fd0>
dimos/utils/data.py:306: in get_data
    archive_path = _decompress_archive(_pull_lfs_archive(archive_name))
        archive_name = 'dual_openyam_abc_box_v2'
        data_dir   = PosixPath('.../dimos/dimos/data')
        file_path  = PosixPath('.../dimos/dimos/data/dual_openyam_abc_box_v2/dual_openyam.urdf')
        name       = 'dual_openyam_abc_box_v2/dual_openyam.urdf'
        nested_path = PosixPath('dual_openyam.urdf')
        path_parts = ('dual_openyam_abc_box_v2', 'dual_openyam.urdf')
dimos/utils/data.py:250: in _pull_lfs_archive
    _lfs_pull(file_path, repo_root)
        file_path  = PosixPath('.../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz')
        filename   = 'dual_openyam_abc_box_v2'
        repo_root  = PosixPath('.../work/dimos/dimos')
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

file_path = PosixPath('.../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz')
repo_root = PosixPath('.../work/dimos/dimos')

    def _lfs_pull(file_path: Path, repo_root: Path, *, retries: int = 2) -> None:
        relative_path = file_path.relative_to(repo_root)
    
        env = os.environ.copy()
        env["GIT_LFS_FORCE_PROGRESS"] = "1"
    
        last_err: subprocess.CalledProcessError | None = None
        for attempt in range(1, retries + 2):  # retries + 1 total attempts
            try:
                subprocess.run(
                    # --exclude= overrides lfs.fetchexclude from .lfsconfig, which
                    # otherwise silently skips data/.lfs/* even when --include matches.
                    ["git", "lfs", "pull", "--include", str(relative_path), "--exclude="],
                    cwd=repo_root,
                    check=True,
                    env=env,
                )
                return
            except subprocess.CalledProcessError as e:
                last_err = e
                if attempt <= retries:
                    time.sleep(attempt)  # 1s, 2s backoff
    
>       raise RuntimeError(
            f"Failed to pull LFS file {file_path} after {retries + 1} attempts: {last_err}"
        )
E       RuntimeError: Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/dual_openyam_abc_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.

attempt    = 3
env        = {'ACCEPT_EULA': 'Y', 'ACTIONS_ID_TOKEN_REQUEST_TOKEN': 'eyJhbGciOiJSUzI1NiIsImtpZCI6IjM4ODI2YjE3LTZhMzAtNWY5Yi1iMTY5LT...-version=2.0', 'ACTIONS_ORCHESTRATION_ID': 'fac9ee65-5946-4d55-b331-02e42ffdc75c.tests.ubuntu-24_04-arm_3_14_fal', ...}
file_path  = PosixPath('.../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz')
last_err   = CalledProcessError(1, ['git', 'lfs', 'pull', '--include', 'data/.lfs/dual_openyam_abc_box_v2.tar.gz', '--exclude='])
relative_path = PosixPath('data/.lfs/dual_openyam_abc_box_v2.tar.gz')
repo_root  = PosixPath('.../work/dimos/dimos')
retries    = 2

dimos/utils/data.py:218: RuntimeError

dimos.hardware.whole_body.dual_openyam_damiao.test_adapter::test_adapter_connects_complete_dual_yam_topology

Stack Traces | 3.12s run time

adapter = <dimos.hardware.whole_body.dual_openyam_damiao.adapter.DualOpenYamDamiaoAdapter object at 0xff8a7387eab0>

    def test_adapter_connects_complete_dual_yam_topology(
        adapter: DualOpenYamDamiaoAdapter,
    ) -> None:
>       assert adapter.connect()
E       assert False
E        +  where False = connect()
E        +    where connect = <dimos.hardware.whole_body.dual_openyam_damiao.adapter.DualOpenYamDamiaoAdapter object at 0xff8a7387eab0>.connect

adapter    = <dimos.hardware.whole_body.dual_openyam_damiao.adapter.DualOpenYamDamiaoAdapter object at 0xff8a7387eab0>

.../whole_body/dual_openyam_damiao/test_adapter.py:44: AssertionError

dimos.robot.manipulators.dual_openyam.test_model::test_both_arm_chains_are_symmetric_and_use_two_rad_s_limits

Stack Traces | 3.12s run time

def test_both_arm_chains_are_symmetric_and_use_two_rad_s_limits() -> None:
>       root = _tree()


.../manipulators/dual_openyam/test_model.py:78: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../manipulators/dual_openyam/test_model.py:29: in _tree
    return ET.parse(DUAL_OPENYAM_MODEL_PATH).getroot()
....../usr/lib/python3.12....../xml/etree/ElementTree.py:1204: in parse
    tree.parse(source, parser)
        parser     = None
        source     = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...c_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a72fd0>
        tree       = <xml.etree.ElementTree.ElementTree object at 0xff529288b560>
....../usr/lib/python3.12....../xml/etree/ElementTree.py:557: in parse
    if not hasattr(source, "read"):
        close_source = False
        parser     = None
        self       = <xml.etree.ElementTree.ElementTree object at 0xff529288b560>
        source     = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...c_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a72fd0>
dimos/utils/data.py:366: in __getattribute__
    resolved = object.__getattribute__(self, "_ensure_downloaded")()
        name       = 'read'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...c_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a72fd0>
dimos/utils/data.py:349: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'dual_openyam_abc_box_v2/dual_openyam.urdf'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...c_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a72fd0>
dimos/utils/data.py:306: in get_data
    archive_path = _decompress_archive(_pull_lfs_archive(archive_name))
        archive_name = 'dual_openyam_abc_box_v2'
        data_dir   = PosixPath('.../dimos/dimos/data')
        file_path  = PosixPath('.../dimos/dimos/data/dual_openyam_abc_box_v2/dual_openyam.urdf')
        name       = 'dual_openyam_abc_box_v2/dual_openyam.urdf'
        nested_path = PosixPath('dual_openyam.urdf')
        path_parts = ('dual_openyam_abc_box_v2', 'dual_openyam.urdf')
dimos/utils/data.py:250: in _pull_lfs_archive
    _lfs_pull(file_path, repo_root)
        file_path  = PosixPath('.../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz')
        filename   = 'dual_openyam_abc_box_v2'
        repo_root  = PosixPath('.../work/dimos/dimos')
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

file_path = PosixPath('.../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz')
repo_root = PosixPath('.../work/dimos/dimos')

    def _lfs_pull(file_path: Path, repo_root: Path, *, retries: int = 2) -> None:
        relative_path = file_path.relative_to(repo_root)
    
        env = os.environ.copy()
        env["GIT_LFS_FORCE_PROGRESS"] = "1"
    
        last_err: subprocess.CalledProcessError | None = None
        for attempt in range(1, retries + 2):  # retries + 1 total attempts
            try:
                subprocess.run(
                    # --exclude= overrides lfs.fetchexclude from .lfsconfig, which
                    # otherwise silently skips data/.lfs/* even when --include matches.
                    ["git", "lfs", "pull", "--include", str(relative_path), "--exclude="],
                    cwd=repo_root,
                    check=True,
                    env=env,
                )
                return
            except subprocess.CalledProcessError as e:
                last_err = e
                if attempt <= retries:
                    time.sleep(attempt)  # 1s, 2s backoff
    
>       raise RuntimeError(
            f"Failed to pull LFS file {file_path} after {retries + 1} attempts: {last_err}"
        )
E       RuntimeError: Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/dual_openyam_abc_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.

attempt    = 3
env        = {'ACCEPT_EULA': 'Y', 'ACTIONS_ID_TOKEN_REQUEST_TOKEN': 'eyJhbGciOiJSUzI1NiIsImtpZCI6IjM4ODI2YjE3LTZhMzAtNWY5Yi1iMTY5LT...-version=2.0', 'ACTIONS_ORCHESTRATION_ID': 'fac9ee65-5946-4d55-b331-02e42ffdc75c.tests.ubuntu-24_04-arm_3_14_fal', ...}
file_path  = PosixPath('.../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz')
last_err   = CalledProcessError(1, ['git', 'lfs', 'pull', '--include', 'data/.lfs/dual_openyam_abc_box_v2.tar.gz', '--exclude='])
relative_path = PosixPath('data/.lfs/dual_openyam_abc_box_v2.tar.gz')
repo_root  = PosixPath('.../work/dimos/dimos')
retries    = 2

dimos/utils/data.py:218: RuntimeError

dimos.robot.manipulators.dual_openyam.test_model::test_model_package_is_versioned_and_self_contained

Stack Traces | 3.13s run time

def test_model_package_is_versioned_and_self_contained() -> None:
        assert DUAL_OPENYAM_ARTIFACT == "dual_openyam_abc_box_v2"
>       assert Path(DUAL_OPENYAM_PACKAGE).name == DUAL_OPENYAM_ARTIFACT


.../manipulators/dual_openyam/test_model.py:46: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
....../usr/lib/python3.12/pathlib.py:1164: in __init__
    super().__init__(*args)
        __class__  = <class 'pathlib.Path'>
        args       = (<[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after ...box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a73450>,)
        kwargs     = {}
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xff529290ace0>
....../usr/lib/python3.12/pathlib.py:362: in __init__
    if arg._flavour is ntpath and self._flavour is posixpath:
        arg        = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...c_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a73450>
        args       = (<[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after ...box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a73450>,)
        ntpath     = <module 'ntpath' (frozen)>
        paths      = []
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xff529290ace0>
dimos/utils/data.py:366: in __getattribute__
    resolved = object.__getattribute__(self, "_ensure_downloaded")()
        name       = '_flavour'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...c_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a73450>
dimos/utils/data.py:349: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'dual_openyam_abc_box_v2'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...c_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a73450>
dimos/utils/data.py:306: in get_data
    archive_path = _decompress_archive(_pull_lfs_archive(archive_name))
        archive_name = 'dual_openyam_abc_box_v2'
        data_dir   = PosixPath('.../dimos/dimos/data')
        file_path  = PosixPath('.../dimos/dimos/data/dual_openyam_abc_box_v2')
        name       = 'dual_openyam_abc_box_v2'
        nested_path = None
        path_parts = ('dual_openyam_abc_box_v2',)
dimos/utils/data.py:250: in _pull_lfs_archive
    _lfs_pull(file_path, repo_root)
        file_path  = PosixPath('.../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz')
        filename   = 'dual_openyam_abc_box_v2'
        repo_root  = PosixPath('.../work/dimos/dimos')
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

file_path = PosixPath('.../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz')
repo_root = PosixPath('.../work/dimos/dimos')

    def _lfs_pull(file_path: Path, repo_root: Path, *, retries: int = 2) -> None:
        relative_path = file_path.relative_to(repo_root)
    
        env = os.environ.copy()
        env["GIT_LFS_FORCE_PROGRESS"] = "1"
    
        last_err: subprocess.CalledProcessError | None = None
        for attempt in range(1, retries + 2):  # retries + 1 total attempts
            try:
                subprocess.run(
                    # --exclude= overrides lfs.fetchexclude from .lfsconfig, which
                    # otherwise silently skips data/.lfs/* even when --include matches.
                    ["git", "lfs", "pull", "--include", str(relative_path), "--exclude="],
                    cwd=repo_root,
                    check=True,
                    env=env,
                )
                return
            except subprocess.CalledProcessError as e:
                last_err = e
                if attempt <= retries:
                    time.sleep(attempt)  # 1s, 2s backoff
    
>       raise RuntimeError(
            f"Failed to pull LFS file {file_path} after {retries + 1} attempts: {last_err}"
        )
E       RuntimeError: Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/dual_openyam_abc_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.

attempt    = 3
env        = {'ACCEPT_EULA': 'Y', 'ACTIONS_ID_TOKEN_REQUEST_TOKEN': 'eyJhbGciOiJSUzI1NiIsImtpZCI6IjM4ODI2YjE3LTZhMzAtNWY5Yi1iMTY5LT...-version=2.0', 'ACTIONS_ORCHESTRATION_ID': 'fac9ee65-5946-4d55-b331-02e42ffdc75c.tests.ubuntu-24_04-arm_3_14_fal', ...}
file_path  = PosixPath('.../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz')
last_err   = CalledProcessError(1, ['git', 'lfs', 'pull', '--include', 'data/.lfs/dual_openyam_abc_box_v2.tar.gz', '--exclude='])
relative_path = PosixPath('data/.lfs/dual_openyam_abc_box_v2.tar.gz')
repo_root  = PosixPath('.../work/dimos/dimos')
retries    = 2

dimos/utils/data.py:218: RuntimeError

dimos.robot.manipulators.dual_openyam.test_model::test_model_contains_no_workbench_camera_or_environment_geometry

Stack Traces | 3.13s run time

def test_model_contains_no_workbench_camera_or_environment_geometry() -> None:
>       root = _tree()


.../manipulators/dual_openyam/test_model.py:111: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../manipulators/dual_openyam/test_model.py:29: in _tree
    return ET.parse(DUAL_OPENYAM_MODEL_PATH).getroot()
....../usr/lib/python3.12....../xml/etree/ElementTree.py:1204: in parse
    tree.parse(source, parser)
        parser     = None
        source     = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...c_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a72fd0>
        tree       = <xml.etree.ElementTree.ElementTree object at 0xff52928b29f0>
....../usr/lib/python3.12....../xml/etree/ElementTree.py:557: in parse
    if not hasattr(source, "read"):
        close_source = False
        parser     = None
        self       = <xml.etree.ElementTree.ElementTree object at 0xff52928b29f0>
        source     = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...c_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a72fd0>
dimos/utils/data.py:366: in __getattribute__
    resolved = object.__getattribute__(self, "_ensure_downloaded")()
        name       = 'read'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...c_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a72fd0>
dimos/utils/data.py:349: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'dual_openyam_abc_box_v2/dual_openyam.urdf'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...c_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a72fd0>
dimos/utils/data.py:306: in get_data
    archive_path = _decompress_archive(_pull_lfs_archive(archive_name))
        archive_name = 'dual_openyam_abc_box_v2'
        data_dir   = PosixPath('.../dimos/dimos/data')
        file_path  = PosixPath('.../dimos/dimos/data/dual_openyam_abc_box_v2/dual_openyam.urdf')
        name       = 'dual_openyam_abc_box_v2/dual_openyam.urdf'
        nested_path = PosixPath('dual_openyam.urdf')
        path_parts = ('dual_openyam_abc_box_v2', 'dual_openyam.urdf')
dimos/utils/data.py:250: in _pull_lfs_archive
    _lfs_pull(file_path, repo_root)
        file_path  = PosixPath('.../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz')
        filename   = 'dual_openyam_abc_box_v2'
        repo_root  = PosixPath('.../work/dimos/dimos')
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

file_path = PosixPath('.../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz')
repo_root = PosixPath('.../work/dimos/dimos')

    def _lfs_pull(file_path: Path, repo_root: Path, *, retries: int = 2) -> None:
        relative_path = file_path.relative_to(repo_root)
    
        env = os.environ.copy()
        env["GIT_LFS_FORCE_PROGRESS"] = "1"
    
        last_err: subprocess.CalledProcessError | None = None
        for attempt in range(1, retries + 2):  # retries + 1 total attempts
            try:
                subprocess.run(
                    # --exclude= overrides lfs.fetchexclude from .lfsconfig, which
                    # otherwise silently skips data/.lfs/* even when --include matches.
                    ["git", "lfs", "pull", "--include", str(relative_path), "--exclude="],
                    cwd=repo_root,
                    check=True,
                    env=env,
                )
                return
            except subprocess.CalledProcessError as e:
                last_err = e
                if attempt <= retries:
                    time.sleep(attempt)  # 1s, 2s backoff
    
>       raise RuntimeError(
            f"Failed to pull LFS file {file_path} after {retries + 1} attempts: {last_err}"
        )
E       RuntimeError: Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/dual_openyam_abc_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.

attempt    = 3
env        = {'ACCEPT_EULA': 'Y', 'ACTIONS_ID_TOKEN_REQUEST_TOKEN': 'eyJhbGciOiJSUzI1NiIsImtpZCI6IjM4ODI2YjE3LTZhMzAtNWY5Yi1iMTY5LT...-version=2.0', 'ACTIONS_ORCHESTRATION_ID': 'fac9ee65-5946-4d55-b331-02e42ffdc75c.tests.ubuntu-24_04-arm_3_14_fal', ...}
file_path  = PosixPath('.../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz')
last_err   = CalledProcessError(1, ['git', 'lfs', 'pull', '--include', 'data/.lfs/dual_openyam_abc_box_v2.tar.gz', '--exclude='])
relative_path = PosixPath('data/.lfs/dual_openyam_abc_box_v2.tar.gz')
repo_root  = PosixPath('.../work/dimos/dimos')
retries    = 2

dimos/utils/data.py:218: RuntimeError

dimos.robot.manipulators.dual_openyam.test_model::test_model_has_one_geometry_free_root_and_only_preserves_arm_spacing

Stack Traces | 3.18s run time

def test_model_has_one_geometry_free_root_and_only_preserves_arm_spacing() -> None:
>       root = _tree()


.../manipulators/dual_openyam/test_model.py:59: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../manipulators/dual_openyam/test_model.py:29: in _tree
    return ET.parse(DUAL_OPENYAM_MODEL_PATH).getroot()
....../usr/lib/python3.12....../xml/etree/ElementTree.py:1204: in parse
    tree.parse(source, parser)
        parser     = None
        source     = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...c_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a72fd0>
        tree       = <xml.etree.ElementTree.ElementTree object at 0xff52928b3e00>
....../usr/lib/python3.12....../xml/etree/ElementTree.py:557: in parse
    if not hasattr(source, "read"):
        close_source = False
        parser     = None
        self       = <xml.etree.ElementTree.ElementTree object at 0xff52928b3e00>
        source     = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...c_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a72fd0>
dimos/utils/data.py:366: in __getattribute__
    resolved = object.__getattribute__(self, "_ensure_downloaded")()
        name       = 'read'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...c_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a72fd0>
dimos/utils/data.py:349: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'dual_openyam_abc_box_v2/dual_openyam.urdf'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...c_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a72fd0>
dimos/utils/data.py:306: in get_data
    archive_path = _decompress_archive(_pull_lfs_archive(archive_name))
        archive_name = 'dual_openyam_abc_box_v2'
        data_dir   = PosixPath('.../dimos/dimos/data')
        file_path  = PosixPath('.../dimos/dimos/data/dual_openyam_abc_box_v2/dual_openyam.urdf')
        name       = 'dual_openyam_abc_box_v2/dual_openyam.urdf'
        nested_path = PosixPath('dual_openyam.urdf')
        path_parts = ('dual_openyam_abc_box_v2', 'dual_openyam.urdf')
dimos/utils/data.py:250: in _pull_lfs_archive
    _lfs_pull(file_path, repo_root)
        file_path  = PosixPath('.../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz')
        filename   = 'dual_openyam_abc_box_v2'
        repo_root  = PosixPath('.../work/dimos/dimos')
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

file_path = PosixPath('.../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz')
repo_root = PosixPath('.../work/dimos/dimos')

    def _lfs_pull(file_path: Path, repo_root: Path, *, retries: int = 2) -> None:
        relative_path = file_path.relative_to(repo_root)
    
        env = os.environ.copy()
        env["GIT_LFS_FORCE_PROGRESS"] = "1"
    
        last_err: subprocess.CalledProcessError | None = None
        for attempt in range(1, retries + 2):  # retries + 1 total attempts
            try:
                subprocess.run(
                    # --exclude= overrides lfs.fetchexclude from .lfsconfig, which
                    # otherwise silently skips data/.lfs/* even when --include matches.
                    ["git", "lfs", "pull", "--include", str(relative_path), "--exclude="],
                    cwd=repo_root,
                    check=True,
                    env=env,
                )
                return
            except subprocess.CalledProcessError as e:
                last_err = e
                if attempt <= retries:
                    time.sleep(attempt)  # 1s, 2s backoff
    
>       raise RuntimeError(
            f"Failed to pull LFS file {file_path} after {retries + 1} attempts: {last_err}"
        )
E       RuntimeError: Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/dual_openyam_abc_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.

attempt    = 3
env        = {'ACCEPT_EULA': 'Y', 'ACTIONS_ID_TOKEN_REQUEST_TOKEN': 'eyJhbGciOiJSUzI1NiIsImtpZCI6IjM4ODI2YjE3LTZhMzAtNWY5Yi1iMTY5LT...-version=2.0', 'ACTIONS_ORCHESTRATION_ID': 'fac9ee65-5946-4d55-b331-02e42ffdc75c.tests.ubuntu-24_04-arm_3_14_fal', ...}
file_path  = PosixPath('.../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz')
last_err   = CalledProcessError(1, ['git', 'lfs', 'pull', '--include', 'data/.lfs/dual_openyam_abc_box_v2.tar.gz', '--exclude='])
relative_path = PosixPath('data/.lfs/dual_openyam_abc_box_v2.tar.gz')
repo_root  = PosixPath('.../work/dimos/dimos')
retries    = 2

dimos/utils/data.py:218: RuntimeError

dimos.robot.manipulators.dual_openyam.test_model::test_model_exposes_twelve_arm_joints_and_fixed_finger_geometry

Stack Traces | 3.18s run time

def test_model_exposes_twelve_arm_joints_and_fixed_finger_geometry() -> None:
>       model = pinocchio.buildModelFromUrdf(str(DUAL_OPENYAM_MODEL_PATH))


.../manipulators/dual_openyam/test_model.py:94: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/utils/data.py:371: in __str__
    return str(self._ensure_downloaded())
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...c_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a72fd0>
dimos/utils/data.py:349: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'dual_openyam_abc_box_v2/dual_openyam.urdf'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...c_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff5313a72fd0>
dimos/utils/data.py:306: in get_data
    archive_path = _decompress_archive(_pull_lfs_archive(archive_name))
        archive_name = 'dual_openyam_abc_box_v2'
        data_dir   = PosixPath('.../dimos/dimos/data')
        file_path  = PosixPath('.../dimos/dimos/data/dual_openyam_abc_box_v2/dual_openyam.urdf')
        name       = 'dual_openyam_abc_box_v2/dual_openyam.urdf'
        nested_path = PosixPath('dual_openyam.urdf')
        path_parts = ('dual_openyam_abc_box_v2', 'dual_openyam.urdf')
dimos/utils/data.py:250: in _pull_lfs_archive
    _lfs_pull(file_path, repo_root)
        file_path  = PosixPath('.../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz')
        filename   = 'dual_openyam_abc_box_v2'
        repo_root  = PosixPath('.../work/dimos/dimos')
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

file_path = PosixPath('.../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz')
repo_root = PosixPath('.../work/dimos/dimos')

    def _lfs_pull(file_path: Path, repo_root: Path, *, retries: int = 2) -> None:
        relative_path = file_path.relative_to(repo_root)
    
        env = os.environ.copy()
        env["GIT_LFS_FORCE_PROGRESS"] = "1"
    
        last_err: subprocess.CalledProcessError | None = None
        for attempt in range(1, retries + 2):  # retries + 1 total attempts
            try:
                subprocess.run(
                    # --exclude= overrides lfs.fetchexclude from .lfsconfig, which
                    # otherwise silently skips data/.lfs/* even when --include matches.
                    ["git", "lfs", "pull", "--include", str(relative_path), "--exclude="],
                    cwd=repo_root,
                    check=True,
                    env=env,
                )
                return
            except subprocess.CalledProcessError as e:
                last_err = e
                if attempt <= retries:
                    time.sleep(attempt)  # 1s, 2s backoff
    
>       raise RuntimeError(
            f"Failed to pull LFS file {file_path} after {retries + 1} attempts: {last_err}"
        )
E       RuntimeError: Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/dual_openyam_abc_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.

attempt    = 3
env        = {'ACCEPT_EULA': 'Y', 'ACTIONS_ID_TOKEN_REQUEST_TOKEN': 'eyJhbGciOiJSUzI1NiIsImtpZCI6IjM4ODI2YjE3LTZhMzAtNWY5Yi1iMTY5LT...-version=2.0', 'ACTIONS_ORCHESTRATION_ID': 'fac9ee65-5946-4d55-b331-02e42ffdc75c.tests.ubuntu-24_04-arm_3_14_fal', ...}
file_path  = PosixPath('.../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz')
last_err   = CalledProcessError(1, ['git', 'lfs', 'pull', '--include', 'data/.lfs/dual_openyam_abc_box_v2.tar.gz', '--exclude='])
relative_path = PosixPath('data/.lfs/dual_openyam_abc_box_v2.tar.gz')
repo_root  = PosixPath('.../work/dimos/dimos')
retries    = 2

dimos/utils/data.py:218: RuntimeError

dimos.robot.manipulators.dual_openyam.test_blueprints::test_quest_blueprint_selects_physical_hardware_from_both_can_ports

Stack Traces | 3.2s run time

value = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...ox_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xff66c9bfd7f0>

    def _copy_opaque(value: Any) -> Any:
        try:
>           return copy.deepcopy(value)

value      = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...ox_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xff66c9bfd7f0>

.../coordination/blueprint_config/values.py:148: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
............................../usr/lib/python3.12/copy.py:162: in deepcopy
    y = _reconstruct(x, memo, *rv)
        _nil       = []
        cls        = <class 'dimos.control.coordinator.TaskConfig'>
        copier     = None
        d          = 280816936540144
        memo       = {280816917099584: {'build_native': False, 'can_port': None, 'detection_model': 'moondream', 'device_path': None, ...},....0.1', dimsim_scene='apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None), ...}, ...}
        reductor   = <built-in method __reduce_ex__ of TaskConfig object at 0xff66c9bfd7f0>
        rv         = (<function __newobj__ at 0xff67b72b05e0>, (<class 'dimos.control.coordinator.TaskConfig'>,), {'auto_start': False, 'jo...lter_cutoff_hz': 30.0, 'max_command_tracking_error_deg': 10.0, 'max_joint_velocity_rad_s': 2.0, ...}, ...}, None, None)
        x          = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...ox_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xff66c9bfd7f0>
        y          = []
............................../usr/lib/python3.12/copy.py:259: in _reconstruct
    state = deepcopy(state, memo)
        args       = <generator object _reconstruct.<locals>.<genexpr> at 0xff67a108ef20>
        deep       = True
        deepcopy   = <function deepcopy at 0xff67b6c72020>
        dictiter   = None
        func       = <function __newobj__ at 0xff67b72b05e0>
        listiter   = None
        memo       = {280816917099584: {'build_native': False, 'can_port': None, 'detection_model': 'moondream', 'device_path': None, ...},....0.1', dimsim_scene='apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None), ...}, ...}
        state      = {'auto_start': False, 'joint_names': ['left_arm/joint1', 'left_arm/joint2', 'left_arm/joint3', 'left_arm/joint4', 'lef...nt_command_filter_cutoff_hz': 30.0, 'max_command_tracking_error_deg': 10.0, 'max_joint_velocity_rad_s': 2.0, ...}, ...}
        x          = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...ox_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xff66c9bfd7f0>
        y          = <[AttributeError("'TaskConfig' object has no attribute 'name'") raised in repr()] TaskConfig object at 0xff66b89441a0>
............................../usr/lib/python3.12/copy.py:136: in deepcopy
    y = copier(x, memo)
        _nil       = []
        cls        = <class 'dict'>
        copier     = <function _deepcopy_dict at 0xff67b6aa0ae0>
        d          = 280820566374144
        memo       = {280816917099584: {'build_native': False, 'can_port': None, 'detection_model': 'moondream', 'device_path': None, ...},....0.1', dimsim_scene='apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None), ...}, ...}
        x          = {'auto_start': False, 'joint_names': ['left_arm/joint1', 'left_arm/joint2', 'left_arm/joint3', 'left_arm/joint4', 'lef...nt_command_filter_cutoff_hz': 30.0, 'max_command_tracking_error_deg': 10.0, 'max_joint_velocity_rad_s': 2.0, ...}, ...}
        y          = []
............................../usr/lib/python3.12/copy.py:221: in _deepcopy_dict
    y[deepcopy(key, memo)] = deepcopy(value, memo)
        deepcopy   = <function deepcopy at 0xff67b6c72020>
        key        = 'params'
        memo       = {280816917099584: {'build_native': False, 'can_port': None, 'detection_model': 'moondream', 'device_path': None, ...},....0.1', dimsim_scene='apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None), ...}, ...}
        value      = {'bindings': [{'gripper_closed_position': 0.0, 'gripper_joint': 'left_arm/gripper', 'gripper_open_position': 1.0, 'han..., 'joint_command_filter_cutoff_hz': 30.0, 'max_command_tracking_error_deg': 10.0, 'max_joint_velocity_rad_s': 2.0, ...}
        x          = {'auto_start': False, 'joint_names': ['left_arm/joint1', 'left_arm/joint2', 'left_arm/joint3', 'left_arm/joint4', 'lef...nt_command_filter_cutoff_hz': 30.0, 'max_command_tracking_error_deg': 10.0, 'max_joint_velocity_rad_s': 2.0, ...}, ...}
        y          = {'auto_start': False, 'joint_names': ['left_arm/joint1', 'left_arm/joint2', 'left_arm/joint3', 'left_arm/joint4', 'left_arm/joint5', 'left_arm/joint6', ...], 'name': 'teleop_dual_openyam', 'priority': 10, ...}
............................../usr/lib/python3.12/copy.py:136: in deepcopy
    y = copier(x, memo)
        _nil       = []
        cls        = <class 'dict'>
        copier     = <function _deepcopy_dict at 0xff67b6aa0ae0>
        d          = 280816917099904
        memo       = {280816917099584: {'build_native': False, 'can_port': None, 'detection_model': 'moondream', 'device_path': None, ...},....0.1', dimsim_scene='apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None), ...}, ...}
        x          = {'bindings': [{'gripper_closed_position': 0.0, 'gripper_joint': 'left_arm/gripper', 'gripper_open_position': 1.0, 'han..., 'joint_command_filter_cutoff_hz': 30.0, 'max_command_tracking_error_deg': 10.0, 'max_joint_velocity_rad_s': 2.0, ...}
        y          = []
............................../usr/lib/python3.12/copy.py:221: in _deepcopy_dict
    y[deepcopy(key, memo)] = deepcopy(value, memo)
        deepcopy   = <function deepcopy at 0xff67b6c72020>
        key        = 'robot_model'
        memo       = {280816917099584: {'build_native': False, 'can_port': None, 'detection_model': 'moondream', 'device_path': None, ...},....0.1', dimsim_scene='apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None), ...}, ...}
        value      = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModelConfig object at 0xff66c99437f0>
        x          = {'bindings': [{'gripper_closed_position': 0.0, 'gripper_joint': 'left_arm/gripper', 'gripper_open_position': 1.0, 'han..., 'joint_command_filter_cutoff_hz': 30.0, 'max_command_tracking_error_deg': 10.0, 'max_joint_velocity_rad_s': 2.0, ...}
        y          = {}
............................../usr/lib/python3.12/copy.py:143: in deepcopy
    y = copier(memo)
        _nil       = []
        cls        = <class 'dimos.manipulation.planning.spec.config.RobotModelConfig'>
        copier     = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...bc_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] method object at 0xff67a0949740>
        d          = 280816933681136
        memo       = {280816917099584: {'build_native': False, 'can_port': None, 'detection_model': 'moondream', 'device_path': None, ...},....0.1', dimsim_scene='apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None), ...}, ...}
        x          = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModelConfig object at 0xff66c99437f0>
        y          = []
.venv/lib/python3.12.../site-packages/pydantic/main.py:978: in __deepcopy__
    _object_setattr(m, '__dict__', deepcopy(self.__dict__, memo=memo))
        cls        = <class 'dimos.manipulation.planning.spec.config.RobotModelConfig'>
        m          = RobotModelConfig()
        memo       = {280816917099584: {'build_native': False, 'can_port': None, 'detection_model': 'moondream', 'device_path': None, ...},....0.1', dimsim_scene='apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None), ...}, ...}
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModelConfig object at 0xff66c99437f0>
............................../usr/lib/python3.12/copy.py:136: in deepcopy
    y = copier(x, memo)
        _nil       = []
        cls        = <class 'dict'>
        copier     = <function _deepcopy_dict at 0xff67b6aa0ae0>
        d          = 280816928391488
        memo       = {280816917099584: {'build_native': False, 'can_port': None, 'detection_model': 'moondream', 'device_path': None, ...},....0.1', dimsim_scene='apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None), ...}, ...}
        x          = {'auto_convert_meshes': True, 'base_link': 'dual_openyam_base', 'base_pose': Pose(position=Vector([          0           0           0]), orientation=Quaternion(0.000000, 0.000000, 0.000000, 1.000000)), 'collision_exclusion_pairs': [], ...}
        y          = []
............................../usr/lib/python3.12/copy.py:221: in _deepcopy_dict
    y[deepcopy(key, memo)] = deepcopy(value, memo)
        deepcopy   = <function deepcopy at 0xff67b6c72020>
        key        = 'model_path'
        memo       = {280816917099584: {'build_native': False, 'can_port': None, 'detection_model': 'moondream', 'device_path': None, ...},....0.1', dimsim_scene='apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None), ...}, ...}
        value      = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...c_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff673177b5d0>
        x          = {'auto_convert_meshes': True, 'base_link': 'dual_openyam_base', 'base_pose': Pose(position=Vector([          0           0           0]), orientation=Quaternion(0.000000, 0.000000, 0.000000, 1.000000)), 'collision_exclusion_pairs': [], ...}
        y          = {'default_rpc_timeout': 120.0, 'frame_id': None, 'frame_id_prefix': None, 'g': GlobalConfig(robot_ip=None, robot_ips=N...'127.0.0.1', dimsim_scene='apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None), ...}
............................../usr/lib/python3.12/copy.py:141: in deepcopy
    copier = getattr(x, "__deepcopy__", None)
        _nil       = []
        cls        = <class 'dimos.utils.data.LfsPath'>
        copier     = None
        d          = 280818676643280
        memo       = {280816917099584: {'build_native': False, 'can_port': None, 'detection_model': 'moondream', 'device_path': None, ...},....0.1', dimsim_scene='apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None), ...}, ...}
        x          = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...c_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff673177b5d0>
        y          = []
dimos/utils/data.py:366: in __getattribute__
    resolved = object.__getattribute__(self, "_ensure_downloaded")()
        name       = '__deepcopy__'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...c_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff673177b5d0>
dimos/utils/data.py:349: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'dual_openyam_abc_box_v2/dual_openyam.urdf'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...c_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff673177b5d0>
dimos/utils/data.py:306: in get_data
    archive_path = _decompress_archive(_pull_lfs_archive(archive_name))
        archive_name = 'dual_openyam_abc_box_v2'
        data_dir   = PosixPath('.../dimos/dimos/data')
        file_path  = PosixPath('.../dimos/dimos/data/dual_openyam_abc_box_v2/dual_openyam.urdf')
        name       = 'dual_openyam_abc_box_v2/dual_openyam.urdf'
        nested_path = PosixPath('dual_openyam.urdf')
        path_parts = ('dual_openyam_abc_box_v2', 'dual_openyam.urdf')
dimos/utils/data.py:250: in _pull_lfs_archive
    _lfs_pull(file_path, repo_root)
        file_path  = PosixPath('.../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz')
        filename   = 'dual_openyam_abc_box_v2'
        repo_root  = PosixPath('.../work/dimos/dimos')
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

file_path = PosixPath('.../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz')
repo_root = PosixPath('.../work/dimos/dimos')

    def _lfs_pull(file_path: Path, repo_root: Path, *, retries: int = 2) -> None:
        relative_path = file_path.relative_to(repo_root)
    
        env = os.environ.copy()
        env["GIT_LFS_FORCE_PROGRESS"] = "1"
    
        last_err: subprocess.CalledProcessError | None = None
        for attempt in range(1, retries + 2):  # retries + 1 total attempts
            try:
                subprocess.run(
                    # --exclude= overrides lfs.fetchexclude from .lfsconfig, which
                    # otherwise silently skips data/.lfs/* even when --include matches.
                    ["git", "lfs", "pull", "--include", str(relative_path), "--exclude="],
                    cwd=repo_root,
                    check=True,
                    env=env,
                )
                return
            except subprocess.CalledProcessError as e:
                last_err = e
                if attempt <= retries:
                    time.sleep(attempt)  # 1s, 2s backoff
    
>       raise RuntimeError(
            f"Failed to pull LFS file {file_path} after {retries + 1} attempts: {last_err}"
        )
E       RuntimeError: Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/dual_openyam_abc_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.

attempt    = 3
env        = {'ACCEPT_EULA': 'Y', 'ACTIONS_ID_TOKEN_REQUEST_TOKEN': 'eyJhbGciOiJSUzI1NiIsImtpZCI6IjM4ODI2YjE3LTZhMzAtNWY5Yi1iMTY5LT...-version=2.0', 'ACTIONS_ORCHESTRATION_ID': 'fac9ee65-5946-4d55-b331-02e42ffdc75c.tests.ubuntu-24_04-arm_3_14_fal', ...}
file_path  = PosixPath('.../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz')
last_err   = CalledProcessError(1, ['git', 'lfs', 'pull', '--include', 'data/.lfs/dual_openyam_abc_box_v2.tar.gz', '--exclude='])
relative_path = PosixPath('data/.lfs/dual_openyam_abc_box_v2.tar.gz')
repo_root  = PosixPath('.../work/dimos/dimos')
retries    = 2

dimos/utils/data.py:218: RuntimeError

The above exception was the direct cause of the following exception:

    def test_quest_blueprint_selects_physical_hardware_from_both_can_ports() -> None:
>       parsed = BlueprintConfigParser(teleop_quest_dual_openyam).parse(
            [
                "--left-can-port",
                "follower_l",
                "--right-can-port",
                "follower_r",
                "--manipulationmodule.visualization.host=0.0.0.0",
            ],
            environ={},
        )


.../manipulators/dual_openyam/test_blueprints.py:43: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../coordination/blueprint_config/parser.py:169: in parse
    key: plain(value)
        cli_tokens = ['--left-can-port', 'follower_l', '--right-can-port', 'follower_r', '--manipulationmodule.visualization.host=0.0.0.0']
        config_path = None
        environ    = {}
        global_overrides = None
        overrides  = None
        schema     = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3..._v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] ParserSchema object at 0xff66c91e7cc0>
        self       = <dimos.core.coordination.blueprint_config.parser.BlueprintConfigParser object at 0xff66b8945ac0>
.../coordination/blueprint_config/values.py:50: in plain
    return [plain(item) for item in value]
        value      = [<[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after ...oint5', 'right_arm/joint6'], priority=20, auto_start=False, params={'start_position_tolerance': 0.05}, stream_bind={})]
.../coordination/blueprint_config/values.py:55: in plain
    return _copy_opaque(value)
        value      = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...ox_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xff66c9bfd7f0>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

value = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...ox_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xff66c9bfd7f0>

    def _copy_opaque(value: Any) -> Any:
        try:
            return copy.deepcopy(value)
        except Exception as error:
>           raise BlueprintConfigError(
                f"Configuration value of type {type(value).__name__} cannot be copied safely: {error}"
            ) from error
E           dimos.core.coordination.blueprint_config.errors.BlueprintConfigError: Configuration value of type TaskConfig cannot be copied safely: Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/dual_openyam_abc_box_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.

value      = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/dual_openyam_abc_box_v2.tar.gz after 3...ox_v2.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xff66c9bfd7f0>

.../coordination/blueprint_config/values.py:150: BlueprintConfigError

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