feat(manipulation): add OpenYAM Damiao adapter

[TomCC7]

Summary

• Add a six-DOF OpenYAM Damiao hardware adapter with gravity-compensation preflight and rollback safety.
• Retain the active Xacro as planning and joint-limit authority; add a fixed-finger gravity model asset.
• Add operator approval gating and OpenYAM commissioning guidance.

Safety boundary

Physical gripper commands and readback remain unavailable until upstream provides calibrated normalized-opening readback; the adapter does not fabricate gripper state.

Verification

• Focused OpenYAM/Damiao pytest suite: 63 passed.
• Ruff, lockfile, and diff checks passed.

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Project	Status	Preview	Updated (UTC)
dimensional	🟢 Ready	View Preview	Jul 21, 2026, 11:39 PM

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[codecov]

❌ 13 Tests Failed:

Tests completed	Failed	Passed	Skipped
2671	13	2658	165

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

::dimos.hardware.manipulators.openyam_damiao.test_adapter

Stack Traces | 0s run time

.../manipulators/openyam_damiao/test_adapter.py:20: in <module>
    import dimos.hardware.manipulators.openyam_damiao.adapter as adapter_module
        Mock       = <class 'unittest.mock.Mock'>
        Path       = <class 'pathlib.Path'>
        __builtins__ = <builtins>
        __cached__ = '.../openyam_damiao/__pycache__/test_adapter.cpython-312.pyc'
        __doc__    = 'Focused OpenYAM adapter tests.\n\nThe shared Damiao runtime is an optional hardware dependency in this checkout;\nthe tests become active when that runtime is installed (as they are in the\nhardware test environment).\n'
        __file__   = '.../work/dimos/dimos/.../manipulators/openyam_damiao/test_adapter.py'
        __loader__ = <_pytest.assertion.rewrite.AssertionRewritingHook object at 0xff2b36b0e0c0>
        __name__   = 'openyam_damiao.test_adapter'
        __package__ = 'openyam_damiao'
        __spec__   = ModuleSpec(name='openyam_damiao.test_adapter', loader=<_pytest.assertion.rewrite.AssertionRewritingHook object at 0xff2b36b0e0c0>, origin='.../work/dimos/dimos/.../manipulators/openyam_damiao/test_adapter.py')
        pytest     = <module 'pytest' from '.../dimos/dimos/.venv/lib/python3.12.../site-packages/pytest/__init__.py'>
.../manipulators/openyam_damiao/adapter.py:27: in <module>
    _OPENYAM_MODEL_PATH = Path(LfsPath("yam_description")) / "urdf/yam_gripper.urdf.xacro"
        Any        = typing.Any
        DamiaoArmAdapter = <class 'dimos.hardware.damiao.arm_adapter.DamiaoArmAdapter'>
        DamiaoBusSpec = <class 'dimos.hardware.damiao.specs.DamiaoBusSpec'>
        DamiaoJointGroupSpec = <class 'dimos.hardware.damiao.specs.DamiaoJointGroupSpec'>
        DamiaoMotorSpec = <class 'dimos.hardware.damiao.specs.DamiaoMotorSpec'>
        DamiaoRobotSpec = <class 'dimos.hardware.damiao.specs.DamiaoRobotSpec'>
        LfsPath    = <class 'dimos.utils.data.LfsPath'>
        OPENING_METRES = 0.096
        Path       = <class 'pathlib.Path'>
        _ARM_GROUP = 'arm'
        _BUS_NAME  = 'openyam_can'
        __builtins__ = <builtins>
        __cached__ = '.../openyam_damiao/__pycache__/adapter.cpython-312.pyc'
        __doc__    = "OpenYAM's six-axis Damiao adapter."
        __file__   = '.../work/dimos/dimos/.../manipulators/openyam_damiao/adapter.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff2a4fde1610>
        __name__   = 'dimos.hardware.manipulators.openyam_damiao.adapter'
        __package__ = 'dimos.hardware.manipulators.openyam_damiao'
        __spec__   = ModuleSpec(name='dimos.hardware.manipulators.openyam_damiao.adapter', loader=<_frozen_importlib_external.SourceFileLoa...bject at 0xff2a4fde1610>, origin='.../work/dimos/dimos/.../manipulators/openyam_damiao/adapter.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        cast       = <function cast at 0xff2b38f068e0>
        math       = <module 'math' (built-in)>
        parse_model = <function parse_model at 0xff2a4fb5ab60>
....../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/yam_description.tar.gz after 3 attemp....lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a4fb727d0>,)
        kwargs     = {}
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xff2a4fc12810>
....../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/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a4fb727d0>
        args       = (<[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attemp....lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a4fb727d0>,)
        ntpath     = <module 'ntpath' (frozen)>
        paths      = []
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xff2a4fc12810>
dimos/utils/data.py:364: in __getattribute__
    resolved = object.__getattribute__(self, "_ensure_downloaded")()
        name       = '_flavour'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a4fb727d0>
dimos/utils/data.py:347: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'yam_description'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a4fb727d0>
dimos/utils/data.py:304: in get_data
    archive_path = _decompress_archive(_pull_lfs_archive(archive_name))
        archive_name = 'yam_description'
        data_dir   = PosixPath('.../dimos/dimos/data')
        file_path  = PosixPath('.../dimos/dimos/data/yam_description')
        name       = 'yam_description'
        nested_path = None
        path_parts = ('yam_description',)
dimos/utils/data.py:248: in _pull_lfs_archive
    _lfs_pull(file_path, repo_root)
        file_path  = PosixPath('.../dimos/data/.lfs/yam_description.tar.gz')
        filename   = 'yam_description'
        repo_root  = PosixPath('.../work/dimos/dimos')
dimos/utils/data.py:216: in _lfs_pull
    raise RuntimeError(
E   RuntimeError: Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.
        attempt    = 3
        env        = {'ACCEPT_EULA': 'Y', 'ACTIONS_ID_TOKEN_REQUEST_TOKEN': 'eyJhbGciOiJSUzI1NiIsImtpZCI6IjM4ODI2YjE3LTZhMzAtNWY5Yi1iMTY5LT...-version=2.0', 'ACTIONS_ORCHESTRATION_ID': '4dabb6bb-0cb6-4ada-a18d-544eab718932.tests.ubuntu-24_04-arm_3_14_fal', ...}
        file_path  = PosixPath('.../dimos/data/.lfs/yam_description.tar.gz')
        last_err   = CalledProcessError(1, ['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz'])
        relative_path = PosixPath('data/.lfs/yam_description.tar.gz')
        repo_root  = PosixPath('.../work/dimos/dimos')
        retries    = 2

::dimos.robot.manipulators.openyam.test_openyam

Stack Traces | 0s run time

.../manipulators/openyam/test_openyam.py:22: in <module>
    from dimos.robot.manipulators.openyam.blueprints.basic import (
        Any        = typing.Any
        Blueprint  = <class 'dimos.core.coordination.blueprints.Blueprint'>
        ControlCoordinator = <class 'dimos.control.coordinator.ControlCoordinator'>
        ManipulationModule = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
        ManipulationModuleConfig = <class 'dimos.manipulation.manipulation_module.ManipulationModuleConfig'>
        MockAdapter = <class 'dimos.hardware.manipulators.mock.adapter.MockAdapter'>
        __builtins__ = <builtins>
        __cached__ = '.../openyam/__pycache__/test_openyam.cpython-312.pyc'
        __doc__    = None
        __file__   = '.../work/dimos/dimos/.../manipulators/openyam/test_openyam.py'
        __loader__ = <_pytest.assertion.rewrite.AssertionRewritingHook object at 0xffd815ea01a0>
        __name__   = 'dimos.robot.manipulators.openyam.test_openyam'
        __package__ = 'dimos.robot.manipulators.openyam'
        __spec__   = ModuleSpec(name='dimos.robot.manipulators.openyam.test_openyam', loader=<_pytest.assertion.rewrite.AssertionRewritingHook object at 0xffd815ea01a0>, origin='.../work/dimos/dimos/.../manipulators/openyam/test_openyam.py')
        global_config = GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, can_port=None, dev...detection_model='moondream', listen_host='127.0.0.1', dimsim_scene='apartment', dimsim_port=8090, dimsim_headless=True)
.../openyam/blueprints/basic.py:27: in <module>
    _openyam_planner_hw = openyam_hardware("arm")
        ControlCoordinator = <class 'dimos.control.coordinator.ControlCoordinator'>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/basic.cpython-312.pyc'
        __doc__    = 'Basic OpenYAM coordinator blueprints.'
        __file__   = '.../work/dimos/dimos/.../openyam/blueprints/basic.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xffd71d43e030>
        __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 0xffd71d43e030>, origin='.../work/dimos/dimos/.../openyam/blueprints/basic.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xffd7fd8bd580>
        coordinator = <function coordinator at 0xffd71d058860>
        make_openyam_model_config = <function make_openyam_model_config at 0xffd71d058cc0>
        openyam_hardware = <function openyam_hardware at 0xffd71d058c20>
        planner    = <function planner at 0xffd71d058900>
        trajectory_task = <function trajectory_task at 0xffd71d058540>
.../manipulators/openyam/config.py:74: in openyam_hardware
    if not Path(OPENYAM_GRAVITY_MODEL_PATH).is_file():
        home_joints = None
        hw_id      = 'arm'
....../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/yam_description.tar.gz after 3 attemp....lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac70d0>,)
        kwargs     = {}
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xffd71d0ef4c0>
....../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/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac70d0>
        args       = (<[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attemp....lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac70d0>,)
        ntpath     = <module 'ntpath' (frozen)>
        paths      = []
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xffd71d0ef4c0>
dimos/utils/data.py:364: in __getattribute__
    resolved = object.__getattribute__(self, "_ensure_downloaded")()
        name       = '_flavour'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac70d0>
dimos/utils/data.py:347: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'yam_description/urdf/yam_gripper_gravity.urdf'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac70d0>
dimos/utils/data.py:304: in get_data
    archive_path = _decompress_archive(_pull_lfs_archive(archive_name))
        archive_name = 'yam_description'
        data_dir   = PosixPath('.../dimos/dimos/data')
        file_path  = PosixPath('.../dimos/dimos/data/yam_description/urdf/yam_gripper_gravity.urdf')
        name       = 'yam_description/urdf/yam_gripper_gravity.urdf'
        nested_path = PosixPath('urdf/yam_gripper_gravity.urdf')
        path_parts = ('yam_description', 'urdf', 'yam_gripper_gravity.urdf')
dimos/utils/data.py:248: in _pull_lfs_archive
    _lfs_pull(file_path, repo_root)
        file_path  = PosixPath('.../dimos/data/.lfs/yam_description.tar.gz')
        filename   = 'yam_description'
        repo_root  = PosixPath('.../work/dimos/dimos')
dimos/utils/data.py:216: in _lfs_pull
    raise RuntimeError(
E   RuntimeError: Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.
        attempt    = 3
        env        = {'ACCEPT_EULA': 'Y', 'ACTIONS_ID_TOKEN_REQUEST_TOKEN': 'eyJhbGciOiJSUzI1NiIsImtpZCI6IjM4ODI2YjE3LTZhMzAtNWY5Yi1iMTY5LT...-version=2.0', 'ACTIONS_ORCHESTRATION_ID': '4dabb6bb-0cb6-4ada-a18d-544eab718932.tests.ubuntu-24_04-arm_3_14_fal', ...}
        file_path  = PosixPath('.../dimos/data/.lfs/yam_description.tar.gz')
        last_err   = CalledProcessError(1, ['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz'])
        relative_path = PosixPath('data/.lfs/yam_description.tar.gz')
        repo_root  = PosixPath('.../work/dimos/dimos')
        retries    = 2

::dimos.robot.manipulators.test_blueprints

Stack Traces | 0s run time

.../robot/manipulators/test_blueprints.py:32: in <module>
    from dimos.robot.manipulators.openyam.blueprints.teleop import (
        Any        = typing.Any
        Blueprint  = <class 'dimos.core.coordination.blueprints.Blueprint'>
        ControlCoordinator = <class 'dimos.control.coordinator.ControlCoordinator'>
        EEF_TWIST_TASK_NAME = 'eef_twist_arm'
        ManipulationModule = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
        ManipulationModuleConfig = <class 'dimos.manipulation.manipulation_module.ManipulationModuleConfig'>
        NoManipulationVisualizationConfig = <class 'dimos.manipulation.visualization.config.NoManipulationVisualizationConfig'>
        Path       = <class 'pathlib.Path'>
        TaskConfig = <class 'dimos.control.coordinator.TaskConfig'>
        __builtins__ = <builtins>
        __cached__ = '.../manipulators/__pycache__/test_blueprints.cpython-312.pyc'
        __doc__    = None
        __file__   = '.../work/dimos/dimos/.../robot/manipulators/test_blueprints.py'
        __loader__ = <_pytest.assertion.rewrite.AssertionRewritingHook object at 0xffd815ea01a0>
        __name__   = 'dimos.robot.manipulators.test_blueprints'
        __package__ = 'dimos.robot.manipulators'
        __spec__   = ModuleSpec(name='dimos.robot.manipulators.test_blueprints', loader=<_pytest.assertion.rewrite.AssertionRewritingHook object at 0xffd815ea01a0>, origin='.../work/dimos/dimos/.../robot/manipulators/test_blueprints.py')
        eef_twist_task = <function eef_twist_task at 0xffd71d0585e0>
        keyboard_teleop_a1z = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/a1z_description.tar.gz after 3 attempt....lfs/a1z_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] Blueprint object at 0xffd71cf95820>
        keyboard_teleop_a750 = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/a750_description.tar.gz after 3 attemp...lfs/a750_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] Blueprint object at 0xffd71cfa4680>
        keyboard_teleop_openarm = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/openarm_description.tar.gz after 3 att.../openarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] Blueprint object at 0xffd71cfa79b0>
        keyboard_teleop_openarm_mock = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/openarm_description.tar.gz after 3 att.../openarm_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] Blueprint object at 0xffd71cfa6d80>
        planner    = <function planner at 0xffd71d058900>
        pytest     = <module 'pytest' from '.../dimos/dimos/.venv/lib/python3.12.../site-packages/pytest/__init__.py'>
.../openyam/blueprints/teleop.py:31: in <module>
    _openyam_keyboard_hw = openyam_hardware("arm")
        ControlCoordinator = <class 'dimos.control.coordinator.ControlCoordinator'>
        KeyboardTeleopModule = <class 'dimos.teleop.keyboard.keyboard_teleop_module.KeyboardTeleopModule'>
        ManipulationModule = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
        OPENYAM_DOF = 6
        OPENYAM_MODEL_PATH = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac71d0>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/teleop.cpython-312.pyc'
        __doc__    = 'OpenYAM keyboard teleop blueprints.'
        __file__   = '.../work/dimos/dimos/.../openyam/blueprints/teleop.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xffd71cfa76e0>
        __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 0xffd71cfa76e0>, origin='.../work/dimos/dimos/.../openyam/blueprints/teleop.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xffd7fd8bd580>
        eef_twist_task = <function eef_twist_task at 0xffd71d0585e0>
        make_openyam_model_config = <function make_openyam_model_config at 0xffd71d058cc0>
        openyam_hardware = <function openyam_hardware at 0xffd71d058c20>
.../manipulators/openyam/config.py:74: in openyam_hardware
    if not Path(OPENYAM_GRAVITY_MODEL_PATH).is_file():
        home_joints = None
        hw_id      = 'arm'
....../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/yam_description.tar.gz after 3 attemp....lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac70d0>,)
        kwargs     = {}
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xffd71d082110>
....../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/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac70d0>
        args       = (<[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attemp....lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac70d0>,)
        ntpath     = <module 'ntpath' (frozen)>
        paths      = []
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xffd71d082110>
dimos/utils/data.py:364: in __getattribute__
    resolved = object.__getattribute__(self, "_ensure_downloaded")()
        name       = '_flavour'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac70d0>
dimos/utils/data.py:347: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'yam_description/urdf/yam_gripper_gravity.urdf'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac70d0>
dimos/utils/data.py:304: in get_data
    archive_path = _decompress_archive(_pull_lfs_archive(archive_name))
        archive_name = 'yam_description'
        data_dir   = PosixPath('.../dimos/dimos/data')
        file_path  = PosixPath('.../dimos/dimos/data/yam_description/urdf/yam_gripper_gravity.urdf')
        name       = 'yam_description/urdf/yam_gripper_gravity.urdf'
        nested_path = PosixPath('urdf/yam_gripper_gravity.urdf')
        path_parts = ('yam_description', 'urdf', 'yam_gripper_gravity.urdf')
dimos/utils/data.py:248: in _pull_lfs_archive
    _lfs_pull(file_path, repo_root)
        file_path  = PosixPath('.../dimos/data/.lfs/yam_description.tar.gz')
        filename   = 'yam_description'
        repo_root  = PosixPath('.../work/dimos/dimos')
dimos/utils/data.py:216: in _lfs_pull
    raise RuntimeError(
E   RuntimeError: Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.
        attempt    = 3
        env        = {'ACCEPT_EULA': 'Y', 'ACTIONS_ID_TOKEN_REQUEST_TOKEN': 'eyJhbGciOiJSUzI1NiIsImtpZCI6IjM4ODI2YjE3LTZhMzAtNWY5Yi1iMTY5LT...-version=2.0', 'ACTIONS_ORCHESTRATION_ID': '4dabb6bb-0cb6-4ada-a18d-544eab718932.tests.ubuntu-24_04-arm_3_14_fal', ...}
        file_path  = PosixPath('.../dimos/data/.lfs/yam_description.tar.gz')
        last_err   = CalledProcessError(1, ['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz'])
        relative_path = PosixPath('data/.lfs/yam_description.tar.gz')
        repo_root  = PosixPath('.../work/dimos/dimos')
        retries    = 2

dimos.codebase_checks.test_no_init_files::test_no_init_files

Stack Traces | 0.019s run time

def test_no_init_files():
        dimos_dir = DIMOS_PROJECT_ROOT / "dimos"
        init_files = sorted(dimos_dir.rglob("__init__.py"))
        # The root dimos/__init__.py is allowed for the porcelain lazy import.
        init_files = [f for f in init_files if f != dimos_dir / "__init__.py"]
        if init_files:
            listing = "\n".join(f"  - {f.relative_to(dimos_dir)}" for f in init_files)
>           raise AssertionError(
                f"Found __init__.py files in dimos/:\n{listing}\n\n"
                "__init__.py files are not allowed because they lead to unnecessary "
                "extraneous imports. Everything should be imported straight from the "
                "source module."
            )
E           AssertionError: Found __init__.py files in dimos/:
E             - hardware/damiao/__init__.py
E             - .../manipulators/openyam_damiao/__init__.py
E           
E           __init__.py files are not allowed because they lead to unnecessary extraneous imports. Everything should be imported straight from the source module.

dimos_dir  = PosixPath('.../dimos/dimos/dimos')
init_files = [PosixPath('.../dimos/dimos/dimos/hardware/damiao/__init__.py'), PosixPath('.../dimos/dimos/dimos/.../manipulators/openyam_damiao/__init__.py')]
listing    = '  - hardware/damiao/__init__.py\n  - .../manipulators/openyam_damiao/__init__.py'

dimos/codebase_checks/test_no_init_files.py:25: AssertionError

dimos.hardware.test_adapter_registries::test_declared_factory_paths_resolve[manipulators]

Stack Traces | 3.1s run time

registry = <dimos.hardware.manipulators.registry.AdapterRegistry object at 0xff2a4fcdf380>
family = 'manipulators'

    @pytest.mark.parametrize(("registry", "family"), FAMILIES)
    def test_declared_factory_paths_resolve(registry, family) -> None:
        for name, factory_path in sorted(registry._factory_paths.items()):
            module_name, attr = factory_path.split(":", maxsplit=1)
            try:
>               module = importlib.import_module(module_name)

attr       = 'OpenYamDamiaoAdapter'
factory    = <class 'dimos.hardware.manipulators.openarm.adapter.OpenArmAdapter'>
factory_path = 'dimos.hardware.manipulators.openyam_damiao.adapter:OpenYamDamiaoAdapter'
family     = 'manipulators'
module     = <module 'dimos.hardware.manipulators.openarm.adapter' from '.../manipulators/openarm/adapter.py'>
module_name = 'dimos.hardware.manipulators.openyam_damiao.adapter'
name       = 'openyam_damiao'
registry   = <dimos.hardware.manipulators.registry.AdapterRegistry object at 0xff2a4fcdf380>

dimos/hardware/test_adapter_registries.py:147: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
........./usr/lib/python3.12/importlib/__init__.py:90: in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
        level      = 0
        name       = 'dimos.hardware.manipulators.openyam_damiao.adapter'
        package    = None
<frozen importlib._bootstrap>:1387: in _gcd_import
    ???
        level      = 0
        name       = 'dimos.hardware.manipulators.openyam_damiao.adapter'
        package    = None
<frozen importlib._bootstrap>:1360: in _find_and_load
    ???
        import_    = <function _gcd_import at 0xff2b3914c0e0>
        module     = <object object at 0xff2b39120060>
        name       = 'dimos.hardware.manipulators.openyam_damiao.adapter'
<frozen importlib._bootstrap>:1331: in _find_and_load_unlocked
    ???
        child      = 'adapter'
        import_    = <function _gcd_import at 0xff2b3914c0e0>
        name       = 'dimos.hardware.manipulators.openyam_damiao.adapter'
        parent     = 'dimos.hardware.manipulators.openyam_damiao'
        parent_module = <module 'dimos.hardware.manipulators.openyam_damiao' from '.../manipulators/openyam_damiao/__init__.py'>
        parent_spec = ModuleSpec(name='dimos.hardware.manipulators.openyam_damiao', loader=<_frozen_importlib_external.SourceFileLoader obje.../__init__.py', submodule_search_locations=['.../hardware/manipulators/openyam_damiao'])
        path       = ['.../hardware/manipulators/openyam_damiao']
        spec       = ModuleSpec(name='dimos.hardware.manipulators.openyam_damiao.adapter', loader=<_frozen_importlib_external.SourceFileLoa...bject at 0xff2a3847a330>, origin='.../hardware/manipulators/openyam_damiao/adapter.py')
<frozen importlib._bootstrap>:935: in _load_unlocked
    ???
        module     = <module 'dimos.hardware.manipulators.openyam_damiao.adapter' from '.../hardware/manipulators/openyam_damiao/adapter.py'>
        spec       = ModuleSpec(name='dimos.hardware.manipulators.openyam_damiao.adapter', loader=<_frozen_importlib_external.SourceFileLoa...bject at 0xff2a3847a330>, origin='.../hardware/manipulators/openyam_damiao/adapter.py')
<frozen importlib._bootstrap_external>:995: in exec_module
    ???
        code       = <code object <module> at 0x3231d220, file ".../hardware/manipulators/openyam_damiao/adapter.py", line 1>
        module     = <module 'dimos.hardware.manipulators.openyam_damiao.adapter' from '.../hardware/manipulators/openyam_damiao/adapter.py'>
        self       = <_frozen_importlib_external.SourceFileLoader object at 0xff2a3847a330>
<frozen importlib._bootstrap>:488: in _call_with_frames_removed
    ???
        args       = (<code object <module> at 0x3231d220, file ".../hardware/manipulators/openyam_damiao/a...damiao.specs.DamiaoBusSpec'>, 'DamiaoJointGroupSpec': <class 'dimos.hardware.damiao.specs.DamiaoJointGroupSpec'>, ...})
        f          = <built-in function exec>
        kwds       = {}
.../manipulators/openyam_damiao/adapter.py:27: in <module>
    _OPENYAM_MODEL_PATH = Path(LfsPath("yam_description")) / "urdf/yam_gripper.urdf.xacro"
        Any        = typing.Any
        DamiaoArmAdapter = <class 'dimos.hardware.damiao.arm_adapter.DamiaoArmAdapter'>
        DamiaoBusSpec = <class 'dimos.hardware.damiao.specs.DamiaoBusSpec'>
        DamiaoJointGroupSpec = <class 'dimos.hardware.damiao.specs.DamiaoJointGroupSpec'>
        DamiaoMotorSpec = <class 'dimos.hardware.damiao.specs.DamiaoMotorSpec'>
        DamiaoRobotSpec = <class 'dimos.hardware.damiao.specs.DamiaoRobotSpec'>
        LfsPath    = <class 'dimos.utils.data.LfsPath'>
        OPENING_METRES = 0.096
        Path       = <class 'pathlib.Path'>
        _ARM_GROUP = 'arm'
        _BUS_NAME  = 'openyam_can'
        __builtins__ = <builtins>
        __cached__ = '.../hardware/manipulators/openyam_damiao/__pycache__/adapter.cpython-312.pyc'
        __doc__    = "OpenYAM's six-axis Damiao adapter."
        __file__   = '.../hardware/manipulators/openyam_damiao/adapter.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff2a3847a330>
        __name__   = 'dimos.hardware.manipulators.openyam_damiao.adapter'
        __package__ = 'dimos.hardware.manipulators.openyam_damiao'
        __spec__   = ModuleSpec(name='dimos.hardware.manipulators.openyam_damiao.adapter', loader=<_frozen_importlib_external.SourceFileLoa...bject at 0xff2a3847a330>, origin='.../hardware/manipulators/openyam_damiao/adapter.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        cast       = <function cast at 0xff2b38f068e0>
        math       = <module 'math' (built-in)>
        parse_model = <function parse_model at 0xff2a4fb5ab60>
........./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/yam_description.tar.gz after 3 attemp....lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a3852a0d0>,)
        kwargs     = {}
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xff2a3f1b5bd0>
........./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/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a3852a0d0>
        args       = (<[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attemp....lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a3852a0d0>,)
        ntpath     = <module 'ntpath' (frozen)>
        paths      = []
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xff2a3f1b5bd0>
dimos/utils/data.py:364: in __getattribute__
    resolved = object.__getattribute__(self, "_ensure_downloaded")()
        name       = '_flavour'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a3852a0d0>
dimos/utils/data.py:347: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'yam_description'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a3852a0d0>
dimos/utils/data.py:304: in get_data
    archive_path = _decompress_archive(_pull_lfs_archive(archive_name))
        archive_name = 'yam_description'
        data_dir   = PosixPath('.../dimos/dimos/data')
        file_path  = PosixPath('.../dimos/dimos/data/yam_description')
        name       = 'yam_description'
        nested_path = None
        path_parts = ('yam_description',)
dimos/utils/data.py:248: in _pull_lfs_archive
    _lfs_pull(file_path, repo_root)
        file_path  = PosixPath('.../dimos/data/.lfs/yam_description.tar.gz')
        filename   = 'yam_description'
        repo_root  = PosixPath('.../work/dimos/dimos')
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

file_path = PosixPath('.../dimos/data/.lfs/yam_description.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(
                    ["git", "lfs", "pull", "--include", str(relative_path)],
                    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/yam_description.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.

attempt    = 3
env        = {'ACCEPT_EULA': 'Y', 'ACTIONS_ID_TOKEN_REQUEST_TOKEN': 'eyJhbGciOiJSUzI1NiIsImtpZCI6IjM4ODI2YjE3LTZhMzAtNWY5Yi1iMTY5LT...-version=2.0', 'ACTIONS_ORCHESTRATION_ID': '4dabb6bb-0cb6-4ada-a18d-544eab718932.tests.ubuntu-24_04-arm_3_14_fal', ...}
file_path  = PosixPath('.../dimos/data/.lfs/yam_description.tar.gz')
last_err   = CalledProcessError(1, ['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz'])
relative_path = PosixPath('data/.lfs/yam_description.tar.gz')
repo_root  = PosixPath('.../work/dimos/dimos')
retries    = 2

dimos/utils/data.py:216: RuntimeError

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

Stack Traces | 3.12s 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    = "Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz']' returned non-zero exit status 1."
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'
.../openyam/blueprints/basic.py:27: in <module>
    _openyam_planner_hw = openyam_hardware("arm")
        ControlCoordinator = <class 'dimos.control.coordinator.ControlCoordinator'>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/basic.cpython-312.pyc'
        __doc__    = 'Basic OpenYAM coordinator blueprints.'
        __file__   = '.../work/dimos/dimos/.../openyam/blueprints/basic.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff2a3ae61730>
        __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 0xff2a3ae61730>, origin='.../work/dimos/dimos/.../openyam/blueprints/basic.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xff2b1e591580>
        coordinator = <function coordinator at 0xff2a3e1c9440>
        make_openyam_model_config = <function make_openyam_model_config at 0xff2a3e1c98a0>
        openyam_hardware = <function openyam_hardware at 0xff2a3e1c9800>
        planner    = <function planner at 0xff2a3e1c94e0>
        trajectory_task = <function trajectory_task at 0xff2a3e1c9120>
.../manipulators/openyam/config.py:74: in openyam_hardware
    if not Path(OPENYAM_GRAVITY_MODEL_PATH).is_file():
        home_joints = None
        hw_id      = 'arm'
....../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/yam_description.tar.gz after 3 attemp....lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a3e23dbd0>,)
        kwargs     = {}
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xff2a3ac57a70>
....../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/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a3e23dbd0>
        args       = (<[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attemp....lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a3e23dbd0>,)
        ntpath     = <module 'ntpath' (frozen)>
        paths      = []
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xff2a3ac57a70>
dimos/utils/data.py:364: in __getattribute__
    resolved = object.__getattribute__(self, "_ensure_downloaded")()
        name       = '_flavour'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a3e23dbd0>
dimos/utils/data.py:347: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'yam_description/urdf/yam_gripper_gravity.urdf'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a3e23dbd0>
dimos/utils/data.py:304: in get_data
    archive_path = _decompress_archive(_pull_lfs_archive(archive_name))
        archive_name = 'yam_description'
        data_dir   = PosixPath('.../dimos/dimos/data')
        file_path  = PosixPath('.../dimos/dimos/data/yam_description/urdf/yam_gripper_gravity.urdf')
        name       = 'yam_description/urdf/yam_gripper_gravity.urdf'
        nested_path = PosixPath('urdf/yam_gripper_gravity.urdf')
        path_parts = ('yam_description', 'urdf', 'yam_gripper_gravity.urdf')
dimos/utils/data.py:248: in _pull_lfs_archive
    _lfs_pull(file_path, repo_root)
        file_path  = PosixPath('.../dimos/data/.lfs/yam_description.tar.gz')
        filename   = 'yam_description'
        repo_root  = PosixPath('.../work/dimos/dimos')
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

file_path = PosixPath('.../dimos/data/.lfs/yam_description.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(
                    ["git", "lfs", "pull", "--include", str(relative_path)],
                    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/yam_description.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.

attempt    = 3
env        = {'ACCEPT_EULA': 'Y', 'ACTIONS_ID_TOKEN_REQUEST_TOKEN': 'eyJhbGciOiJSUzI1NiIsImtpZCI6IjM4ODI2YjE3LTZhMzAtNWY5Yi1iMTY5LT...-version=2.0', 'ACTIONS_ORCHESTRATION_ID': '4dabb6bb-0cb6-4ada-a18d-544eab718932.tests.ubuntu-24_04-arm_3_14_fal', ...}
file_path  = PosixPath('.../dimos/data/.lfs/yam_description.tar.gz')
last_err   = CalledProcessError(1, ['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz'])
relative_path = PosixPath('data/.lfs/yam_description.tar.gz')
repo_root  = PosixPath('.../work/dimos/dimos')
retries    = 2

dimos/utils/data.py:216: RuntimeError

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

Stack Traces | 3.12s 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:109: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:85: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'openyam-planner-coordinator'
        message    = "Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz']' returned non-zero exit status 1."
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'
.../openyam/blueprints/basic.py:27: in <module>
    _openyam_planner_hw = openyam_hardware("arm")
        ControlCoordinator = <class 'dimos.control.coordinator.ControlCoordinator'>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/basic.cpython-312.pyc'
        __doc__    = 'Basic OpenYAM coordinator blueprints.'
        __file__   = '.../work/dimos/dimos/.../openyam/blueprints/basic.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xffd71d0ce000>
        __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 0xffd71d0ce000>, origin='.../work/dimos/dimos/.../openyam/blueprints/basic.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xffd7fd8bd580>
        coordinator = <function coordinator at 0xffd71d058860>
        make_openyam_model_config = <function make_openyam_model_config at 0xffd71d058cc0>
        openyam_hardware = <function openyam_hardware at 0xffd71d058c20>
        planner    = <function planner at 0xffd71d058900>
        trajectory_task = <function trajectory_task at 0xffd71d058540>
.../manipulators/openyam/config.py:74: in openyam_hardware
    if not Path(OPENYAM_GRAVITY_MODEL_PATH).is_file():
        home_joints = None
        hw_id      = 'arm'
....../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/yam_description.tar.gz after 3 attemp....lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac70d0>,)
        kwargs     = {}
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xffd71a4d0ac0>
....../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/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac70d0>
        args       = (<[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attemp....lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac70d0>,)
        ntpath     = <module 'ntpath' (frozen)>
        paths      = []
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xffd71a4d0ac0>
dimos/utils/data.py:364: in __getattribute__
    resolved = object.__getattribute__(self, "_ensure_downloaded")()
        name       = '_flavour'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac70d0>
dimos/utils/data.py:347: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'yam_description/urdf/yam_gripper_gravity.urdf'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac70d0>
dimos/utils/data.py:304: in get_data
    archive_path = _decompress_archive(_pull_lfs_archive(archive_name))
        archive_name = 'yam_description'
        data_dir   = PosixPath('.../dimos/dimos/data')
        file_path  = PosixPath('.../dimos/dimos/data/yam_description/urdf/yam_gripper_gravity.urdf')
        name       = 'yam_description/urdf/yam_gripper_gravity.urdf'
        nested_path = PosixPath('urdf/yam_gripper_gravity.urdf')
        path_parts = ('yam_description', 'urdf', 'yam_gripper_gravity.urdf')
dimos/utils/data.py:248: in _pull_lfs_archive
    _lfs_pull(file_path, repo_root)
        file_path  = PosixPath('.../dimos/data/.lfs/yam_description.tar.gz')
        filename   = 'yam_description'
        repo_root  = PosixPath('.../work/dimos/dimos')
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

file_path = PosixPath('.../dimos/data/.lfs/yam_description.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(
                    ["git", "lfs", "pull", "--include", str(relative_path)],
                    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/yam_description.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.

attempt    = 3
env        = {'ACCEPT_EULA': 'Y', 'ACTIONS_ID_TOKEN_REQUEST_TOKEN': 'eyJhbGciOiJSUzI1NiIsImtpZCI6IjM4ODI2YjE3LTZhMzAtNWY5Yi1iMTY5LT...-version=2.0', 'ACTIONS_ORCHESTRATION_ID': '4dabb6bb-0cb6-4ada-a18d-544eab718932.tests.ubuntu-24_04-arm_3_14_fal', ...}
file_path  = PosixPath('.../dimos/data/.lfs/yam_description.tar.gz')
last_err   = CalledProcessError(1, ['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz'])
relative_path = PosixPath('data/.lfs/yam_description.tar.gz')
repo_root  = PosixPath('.../work/dimos/dimos')
retries    = 2

dimos/utils/data.py:216: RuntimeError

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

Stack Traces | 3.15s 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    = "Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz']' returned non-zero exit status 1."
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'
.../openyam/blueprints/teleop.py:31: in <module>
    _openyam_keyboard_hw = openyam_hardware("arm")
        ControlCoordinator = <class 'dimos.control.coordinator.ControlCoordinator'>
        KeyboardTeleopModule = <class 'dimos.teleop.keyboard.keyboard_teleop_module.KeyboardTeleopModule'>
        ManipulationModule = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
        OPENYAM_DOF = 6
        OPENYAM_MODEL_PATH = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a3e23c5d0>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/teleop.cpython-312.pyc'
        __doc__    = 'OpenYAM keyboard teleop blueprints.'
        __file__   = '.../work/dimos/dimos/.../openyam/blueprints/teleop.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff2a3ccc5970>
        __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 0xff2a3ccc5970>, origin='.../work/dimos/dimos/.../openyam/blueprints/teleop.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xff2b1e591580>
        eef_twist_task = <function eef_twist_task at 0xff2a3e1c91c0>
        make_openyam_model_config = <function make_openyam_model_config at 0xff2a3e1c98a0>
        openyam_hardware = <function openyam_hardware at 0xff2a3e1c9800>
.../manipulators/openyam/config.py:74: in openyam_hardware
    if not Path(OPENYAM_GRAVITY_MODEL_PATH).is_file():
        home_joints = None
        hw_id      = 'arm'
....../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/yam_description.tar.gz after 3 attemp....lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a3e23dbd0>,)
        kwargs     = {}
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xff2a3ac54c80>
....../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/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a3e23dbd0>
        args       = (<[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attemp....lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a3e23dbd0>,)
        ntpath     = <module 'ntpath' (frozen)>
        paths      = []
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xff2a3ac54c80>
dimos/utils/data.py:364: in __getattribute__
    resolved = object.__getattribute__(self, "_ensure_downloaded")()
        name       = '_flavour'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a3e23dbd0>
dimos/utils/data.py:347: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'yam_description/urdf/yam_gripper_gravity.urdf'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a3e23dbd0>
dimos/utils/data.py:304: in get_data
    archive_path = _decompress_archive(_pull_lfs_archive(archive_name))
        archive_name = 'yam_description'
        data_dir   = PosixPath('.../dimos/dimos/data')
        file_path  = PosixPath('.../dimos/dimos/data/yam_description/urdf/yam_gripper_gravity.urdf')
        name       = 'yam_description/urdf/yam_gripper_gravity.urdf'
        nested_path = PosixPath('urdf/yam_gripper_gravity.urdf')
        path_parts = ('yam_description', 'urdf', 'yam_gripper_gravity.urdf')
dimos/utils/data.py:248: in _pull_lfs_archive
    _lfs_pull(file_path, repo_root)
        file_path  = PosixPath('.../dimos/data/.lfs/yam_description.tar.gz')
        filename   = 'yam_description'
        repo_root  = PosixPath('.../work/dimos/dimos')
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

file_path = PosixPath('.../dimos/data/.lfs/yam_description.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(
                    ["git", "lfs", "pull", "--include", str(relative_path)],
                    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/yam_description.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.

attempt    = 3
env        = {'ACCEPT_EULA': 'Y', 'ACTIONS_ID_TOKEN_REQUEST_TOKEN': 'eyJhbGciOiJSUzI1NiIsImtpZCI6IjM4ODI2YjE3LTZhMzAtNWY5Yi1iMTY5LT...-version=2.0', 'ACTIONS_ORCHESTRATION_ID': '4dabb6bb-0cb6-4ada-a18d-544eab718932.tests.ubuntu-24_04-arm_3_14_fal', ...}
file_path  = PosixPath('.../dimos/data/.lfs/yam_description.tar.gz')
last_err   = CalledProcessError(1, ['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz'])
relative_path = PosixPath('data/.lfs/yam_description.tar.gz')
repo_root  = PosixPath('.../work/dimos/dimos')
retries    = 2

dimos/utils/data.py:216: RuntimeError

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

Stack Traces | 3.15s 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:109: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:85: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'coordinator-openyam'
        message    = "Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz']' returned non-zero exit status 1."
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'
.../openyam/blueprints/basic.py:27: in <module>
    _openyam_planner_hw = openyam_hardware("arm")
        ControlCoordinator = <class 'dimos.control.coordinator.ControlCoordinator'>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/basic.cpython-312.pyc'
        __doc__    = 'Basic OpenYAM coordinator blueprints.'
        __file__   = '.../work/dimos/dimos/.../openyam/blueprints/basic.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xffd7e23b53d0>
        __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 0xffd7e23b53d0>, origin='.../work/dimos/dimos/.../openyam/blueprints/basic.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xffd7fd8bd580>
        coordinator = <function coordinator at 0xffd71d058860>
        make_openyam_model_config = <function make_openyam_model_config at 0xffd71d058cc0>
        openyam_hardware = <function openyam_hardware at 0xffd71d058c20>
        planner    = <function planner at 0xffd71d058900>
        trajectory_task = <function trajectory_task at 0xffd71d058540>
.../manipulators/openyam/config.py:74: in openyam_hardware
    if not Path(OPENYAM_GRAVITY_MODEL_PATH).is_file():
        home_joints = None
        hw_id      = 'arm'
....../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/yam_description.tar.gz after 3 attemp....lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac70d0>,)
        kwargs     = {}
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xffd719fa35a0>
....../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/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac70d0>
        args       = (<[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attemp....lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac70d0>,)
        ntpath     = <module 'ntpath' (frozen)>
        paths      = []
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xffd719fa35a0>
dimos/utils/data.py:364: in __getattribute__
    resolved = object.__getattribute__(self, "_ensure_downloaded")()
        name       = '_flavour'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac70d0>
dimos/utils/data.py:347: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'yam_description/urdf/yam_gripper_gravity.urdf'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac70d0>
dimos/utils/data.py:304: in get_data
    archive_path = _decompress_archive(_pull_lfs_archive(archive_name))
        archive_name = 'yam_description'
        data_dir   = PosixPath('.../dimos/dimos/data')
        file_path  = PosixPath('.../dimos/dimos/data/yam_description/urdf/yam_gripper_gravity.urdf')
        name       = 'yam_description/urdf/yam_gripper_gravity.urdf'
        nested_path = PosixPath('urdf/yam_gripper_gravity.urdf')
        path_parts = ('yam_description', 'urdf', 'yam_gripper_gravity.urdf')
dimos/utils/data.py:248: in _pull_lfs_archive
    _lfs_pull(file_path, repo_root)
        file_path  = PosixPath('.../dimos/data/.lfs/yam_description.tar.gz')
        filename   = 'yam_description'
        repo_root  = PosixPath('.../work/dimos/dimos')
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

file_path = PosixPath('.../dimos/data/.lfs/yam_description.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(
                    ["git", "lfs", "pull", "--include", str(relative_path)],
                    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/yam_description.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.

attempt    = 3
env        = {'ACCEPT_EULA': 'Y', 'ACTIONS_ID_TOKEN_REQUEST_TOKEN': 'eyJhbGciOiJSUzI1NiIsImtpZCI6IjM4ODI2YjE3LTZhMzAtNWY5Yi1iMTY5LT...-version=2.0', 'ACTIONS_ORCHESTRATION_ID': '4dabb6bb-0cb6-4ada-a18d-544eab718932.tests.ubuntu-24_04-arm_3_14_fal', ...}
file_path  = PosixPath('.../dimos/data/.lfs/yam_description.tar.gz')
last_err   = CalledProcessError(1, ['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz'])
relative_path = PosixPath('data/.lfs/yam_description.tar.gz')
repo_root  = PosixPath('.../work/dimos/dimos')
retries    = 2

dimos/utils/data.py:216: RuntimeError

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

Stack Traces | 3.15s 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:109: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/robot/test_all_blueprints.py:85: in _check_blueprint
    blueprint = get_blueprint_by_name(blueprint_name)
        blueprint_name = 'keyboard-teleop-openyam'
        message    = "Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz']' returned non-zero exit status 1."
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'
.../openyam/blueprints/teleop.py:31: in <module>
    _openyam_keyboard_hw = openyam_hardware("arm")
        ControlCoordinator = <class 'dimos.control.coordinator.ControlCoordinator'>
        KeyboardTeleopModule = <class 'dimos.teleop.keyboard.keyboard_teleop_module.KeyboardTeleopModule'>
        ManipulationModule = <class 'dimos.manipulation.manipulation_module.ManipulationModule'>
        OPENYAM_DOF = 6
        OPENYAM_MODEL_PATH = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac71d0>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/teleop.cpython-312.pyc'
        __doc__    = 'OpenYAM keyboard teleop blueprints.'
        __file__   = '.../work/dimos/dimos/.../openyam/blueprints/teleop.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xffd71c236f30>
        __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 0xffd71c236f30>, origin='.../work/dimos/dimos/.../openyam/blueprints/teleop.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xffd7fd8bd580>
        eef_twist_task = <function eef_twist_task at 0xffd71d0585e0>
        make_openyam_model_config = <function make_openyam_model_config at 0xffd71d058cc0>
        openyam_hardware = <function openyam_hardware at 0xffd71d058c20>
.../manipulators/openyam/config.py:74: in openyam_hardware
    if not Path(OPENYAM_GRAVITY_MODEL_PATH).is_file():
        home_joints = None
        hw_id      = 'arm'
....../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/yam_description.tar.gz after 3 attemp....lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac70d0>,)
        kwargs     = {}
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xffd71a453450>
....../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/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac70d0>
        args       = (<[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attemp....lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac70d0>,)
        ntpath     = <module 'ntpath' (frozen)>
        paths      = []
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xffd71a453450>
dimos/utils/data.py:364: in __getattribute__
    resolved = object.__getattribute__(self, "_ensure_downloaded")()
        name       = '_flavour'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac70d0>
dimos/utils/data.py:347: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'yam_description/urdf/yam_gripper_gravity.urdf'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffd71cac70d0>
dimos/utils/data.py:304: in get_data
    archive_path = _decompress_archive(_pull_lfs_archive(archive_name))
        archive_name = 'yam_description'
        data_dir   = PosixPath('.../dimos/dimos/data')
        file_path  = PosixPath('.../dimos/dimos/data/yam_description/urdf/yam_gripper_gravity.urdf')
        name       = 'yam_description/urdf/yam_gripper_gravity.urdf'
        nested_path = PosixPath('urdf/yam_gripper_gravity.urdf')
        path_parts = ('yam_description', 'urdf', 'yam_gripper_gravity.urdf')
dimos/utils/data.py:248: in _pull_lfs_archive
    _lfs_pull(file_path, repo_root)
        file_path  = PosixPath('.../dimos/data/.lfs/yam_description.tar.gz')
        filename   = 'yam_description'
        repo_root  = PosixPath('.../work/dimos/dimos')
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

file_path = PosixPath('.../dimos/data/.lfs/yam_description.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(
                    ["git", "lfs", "pull", "--include", str(relative_path)],
                    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/yam_description.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.

attempt    = 3
env        = {'ACCEPT_EULA': 'Y', 'ACTIONS_ID_TOKEN_REQUEST_TOKEN': 'eyJhbGciOiJSUzI1NiIsImtpZCI6IjM4ODI2YjE3LTZhMzAtNWY5Yi1iMTY5LT...-version=2.0', 'ACTIONS_ORCHESTRATION_ID': '4dabb6bb-0cb6-4ada-a18d-544eab718932.tests.ubuntu-24_04-arm_3_14_fal', ...}
file_path  = PosixPath('.../dimos/data/.lfs/yam_description.tar.gz')
last_err   = CalledProcessError(1, ['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz'])
relative_path = PosixPath('data/.lfs/yam_description.tar.gz')
repo_root  = PosixPath('.../work/dimos/dimos')
retries    = 2

dimos/utils/data.py:216: RuntimeError

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

Stack Traces | 3.16s 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    = "Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz']' returned non-zero exit status 1."
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'
.../openyam/blueprints/basic.py:27: in <module>
    _openyam_planner_hw = openyam_hardware("arm")
        ControlCoordinator = <class 'dimos.control.coordinator.ControlCoordinator'>
        __builtins__ = <builtins>
        __cached__ = '.../blueprints/__pycache__/basic.cpython-312.pyc'
        __doc__    = 'Basic OpenYAM coordinator blueprints.'
        __file__   = '.../work/dimos/dimos/.../openyam/blueprints/basic.py'
        __loader__ = <_frozen_importlib_external.SourceFileLoader object at 0xff2a3ce675f0>
        __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 0xff2a3ce675f0>, origin='.../work/dimos/dimos/.../openyam/blueprints/basic.py')
        annotations = _Feature((3, 7, 0, 'beta', 1), None, 16777216)
        autoconnect = <function autoconnect at 0xff2b1e591580>
        coordinator = <function coordinator at 0xff2a3e1c9440>
        make_openyam_model_config = <function make_openyam_model_config at 0xff2a3e1c98a0>
        openyam_hardware = <function openyam_hardware at 0xff2a3e1c9800>
        planner    = <function planner at 0xff2a3e1c94e0>
        trajectory_task = <function trajectory_task at 0xff2a3e1c9120>
.../manipulators/openyam/config.py:74: in openyam_hardware
    if not Path(OPENYAM_GRAVITY_MODEL_PATH).is_file():
        home_joints = None
        hw_id      = 'arm'
....../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/yam_description.tar.gz after 3 attemp....lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a3e23dbd0>,)
        kwargs     = {}
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xff2a3b280a50>
....../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/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a3e23dbd0>
        args       = (<[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attemp....lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a3e23dbd0>,)
        ntpath     = <module 'ntpath' (frozen)>
        paths      = []
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xff2a3b280a50>
dimos/utils/data.py:364: in __getattribute__
    resolved = object.__getattribute__(self, "_ensure_downloaded")()
        name       = '_flavour'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a3e23dbd0>
dimos/utils/data.py:347: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'yam_description/urdf/yam_gripper_gravity.urdf'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...a/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff2a3e23dbd0>
dimos/utils/data.py:304: in get_data
    archive_path = _decompress_archive(_pull_lfs_archive(archive_name))
        archive_name = 'yam_description'
        data_dir   = PosixPath('.../dimos/dimos/data')
        file_path  = PosixPath('.../dimos/dimos/data/yam_description/urdf/yam_gripper_gravity.urdf')
        name       = 'yam_description/urdf/yam_gripper_gravity.urdf'
        nested_path = PosixPath('urdf/yam_gripper_gravity.urdf')
        path_parts = ('yam_description', 'urdf', 'yam_gripper_gravity.urdf')
dimos/utils/data.py:248: in _pull_lfs_archive
    _lfs_pull(file_path, repo_root)
        file_path  = PosixPath('.../dimos/data/.lfs/yam_description.tar.gz')
        filename   = 'yam_description'
        repo_root  = PosixPath('.../work/dimos/dimos')
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

file_path = PosixPath('.../dimos/data/.lfs/yam_description.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(
                    ["git", "lfs", "pull", "--include", str(relative_path)],
                    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/yam_description.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz']' returned non-zero exit status 1.

attempt    = 3
env        = {'ACCEPT_EULA': 'Y', 'ACTIONS_ID_TOKEN_REQUEST_TOKEN': 'eyJhbGciOiJSUzI1NiIsImtpZCI6IjM4ODI2YjE3LTZhMzAtNWY5Yi1iMTY5LT...-version=2.0', 'ACTIONS_ORCHESTRATION_ID': '4dabb6bb-0cb6-4ada-a18d-544eab718932.tests.ubuntu-24_04-arm_3_14_fal', ...}
file_path  = PosixPath('.../dimos/data/.lfs/yam_description.tar.gz')
last_err   = CalledProcessError(1, ['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz'])
relative_path = PosixPath('data/.lfs/yam_description.tar.gz')
repo_root  = PosixPath('.../work/dimos/dimos')
retries    = 2

dimos/utils/data.py:216: RuntimeError

dimos.codebase_checks.test_no_all::test_no_all

Stack Traces | 5.88s run time

def test_no_all():
        """Fail if any file defines `__all__`."""
        dimos_dir = DIMOS_PROJECT_ROOT / "dimos"
        hits = find_all_definitions()
        if hits:
            listing = "\n".join(f"  - {p.relative_to(dimos_dir)}:{lineno}" for p, lineno in hits)
>           raise AssertionError(
                f"Found __all__ definition(s) in dimos/:\n{listing}\n\n"
                "__all__ is not allowed. We don't use `from x import *`, so __all__ "
                "lists serve no purpose and are tedious to maintain. Remove them. For "
                "an import that exists purely to be re-exported, use `# noqa: F401`."
            )
E           AssertionError: Found __all__ definition(s) in dimos/:
E             - hardware/damiao/__init__.py:27
E             - hardware/damiao/arm_adapter.py:557
E             - hardware/damiao/runtime.py:392
E             - hardware/damiao/specs.py:309
E             - .../manipulators/openyam_damiao/__init__.py:8
E           
E           __all__ is not allowed. We don't use `from x import *`, so __all__ lists serve no purpose and are tedious to maintain. Remove them. For an import that exists purely to be re-exported, use `# noqa: F401`.

dimos_dir  = PosixPath('.../dimos/dimos/dimos')
hits       = [(PosixPath('.../dimos/dimos/dimos/hardware/damiao/__init__.py'), 27), (PosixPath('.../runner/work/dim...ecs.py'), 309), (PosixPath('.../dimos/dimos/dimos/.../manipulators/openyam_damiao/__init__.py'), 8)]
listing    = '  - hardware/damiao/__init__.py:27\n  - hardware/damiao/arm_adapter.py:557\n  - hardware/damiao/runtime.py:392\n  - hardware/damiao/specs.py:309\n  - .../manipulators/openyam_damiao/__init__.py:8'

dimos/codebase_checks/test_no_all.py:51: AssertionError

dimos.codebase_checks.test_import_from_source::test_import_from_source

Stack Traces | 6.35s run time

def test_import_from_source() -> None:
        """Fail if any name is imported from a module that only re-imported it."""
        violations = find_reexport_imports()
        if violations:
            listing = "\n".join(
                f"  - {p.relative_to(DIMOS_PROJECT_ROOT)}:{line}: `{name}` imported from "
                f"{src}, but defined in {origin}"
                for p, line, name, src, origin in sorted(violations)
            )
>           raise AssertionError(
                f"Found import(s) that pull a name from a re-exporter:\n{listing}\n\n"
                "Import each name straight from the module that defines it (shown above). "
                "If a module re-exports a name on purpose, mark its import with "
                "`# noqa: F401` or the `from x import Y as Y` form, and that re-export "
                "will be allowed."
            )
E           AssertionError: Found import(s) that pull a name from a re-exporter:
E             - .../manipulators/openyam_damiao/adapter.py:14: `DamiaoArmAdapter` imported from dimos.hardware.damiao, but defined in dimos.hardware.damiao.arm_adapter
E             - .../manipulators/openyam_damiao/adapter.py:14: `DamiaoBusSpec` imported from dimos.hardware.damiao, but defined in dimos.hardware.damiao.specs
E             - .../manipulators/openyam_damiao/adapter.py:14: `DamiaoJointGroupSpec` imported from dimos.hardware.damiao, but defined in dimos.hardware.damiao.specs
E             - .../manipulators/openyam_damiao/adapter.py:14: `DamiaoMotorSpec` imported from dimos.hardware.damiao, but defined in dimos.hardware.damiao.specs
E             - .../manipulators/openyam_damiao/adapter.py:14: `DamiaoRobotSpec` imported from dimos.hardware.damiao, but defined in dimos.hardware.damiao.specs
E           
E           Import each name straight from the module that defines it (shown above). If a module re-exports a name on purpose, mark its import with `# noqa: F401` or the `from x import Y as Y` form, and that re-export will be allowed.

listing    = '  - .../manipulators/openyam_damiao/adapter.py:14: `DamiaoArmAdapter` imported from dimos.hardware.damiao,...amiao/adapter.py:14: `DamiaoRobotSpec` imported from dimos.hardware.damiao, but defined in dimos.hardware.damiao.specs'
violations = [(PosixPath('/home/runner/work/dimos/dimos/.../manipulators/openyam_damiao/adapter.py'), 14, 'DamiaoArmAdap...nipulators/openyam_damiao/adapter.py'), 14, 'DamiaoRobotSpec', 'dimos.hardware.damiao', 'dimos.hardware.damiao.specs')]

dimos/codebase_checks/test_import_from_source.py:148: AssertionError

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