feat: LeRobot rollout on openyam

[TomCC7]

Contribution path

• Stacked on isolated Python module runtime PR feat: add isolated Python module runtime #3478.
• Supersedes the isolated adaptation previously developed in feat: add isolated LeRobot policy module #3479.

Problem

LeRobot 0.6 requires a Transformers 5 and NumPy <2.3 environment that conflicts with the main dimOS perception and development dependency set. The policy module still needs normal typed streams and RPC control from the host stack.

Solution

• Define an RPC-only LeRobotPolicyModule host contract using IsolatedPythonModule.
• Put LeRobot, Transformers, Torch, runtime tests, and their committed lockfile in a sibling Python 3.12 project.
• Preserve lazy checkpoint loading, live observation validation, ordered joint targets, concurrency control, status reporting, and clean shutdown.
• Keep LeRobot dependencies out of the root extras and root lockfile.
• Add a hardware-independent example that launches the real isolated subprocess and calls policy_status.

How to Test

CI=1 uv run pytest dimos/experimental/robot_policy/lerobot/test_module.py dimos/robot/test_all_blueprints_generation.py -q

cd dimos/experimental/robot_policy/lerobot/python
uv sync --locked --group tests
uv run --locked --group tests pytest -q
uv run --locked --group tests mypy
cd -

uv run python examples/native-modules/python_lerobot.py

Validated locally: 7 host/registry tests and 12 isolated runtime tests passed; host and isolated mypy passed; pre-commit passed; the real subprocess example exited cleanly.

Checklist

• I have read and approved the CLA.

[codecov]

❌ 16 Tests Failed:

Tests completed	Failed	Passed	Skipped
3938	16	3922	175

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

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

Stack Traces | 0.002s 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 0xff0613639fd0>
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 0xff061363adb0>
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[keyboard-teleop-openarm]

Stack Traces | 0.002s 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 0xff061363a960>
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 0xff061363af90>
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[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 0xff06137e3770>
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 0xff06137e2cf0>
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.imitation.collection.test_blueprint::test_recorder_reads_aggregate_joint_state[blueprint0]

Stack Traces | 0.002s 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 0xff068783bc50>

    @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 0xff068783bc50>
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.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 0xff06849f0860>

    @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 0xff06849f0860>
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.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[teleop-quest-openarm]

Stack Traces | 0.003s 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.codebase_checks.test_blueprint_kwargs::test_blueprint_atom_kwargs_match_module_config[teleop-quest-openyam]

Stack Traces | 0.003s run time

blueprint_name = 'teleop-quest-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-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/yam_description.tar.gz after 3 attempt...on.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] BlueprintAtom object at 0xff0613643f80>
blueprint  = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...iption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] Blueprint object at 0xff0613643500>
blueprint_name = 'teleop-quest-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[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_215958.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 0xff0613299a90>
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_model::test_model_package_is_versioned_and_self_contained

Stack Traces | 3.12s 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 0xffc86d51edd0>,)
        kwargs     = {}
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xffc8dba4d070>
....../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 0xffc86d51edd0>
        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 0xffc86d51edd0>,)
        ntpath     = <module 'ntpath' (frozen)>
        paths      = []
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xffc8dba4d070>
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 0xffc86d51edd0>
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 0xffc86d51edd0>
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': 'c4497905-b5c7-48b0-890f-d78aae61496e.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_integration::test_authoritative_arm_only_model_prepares_for_viser

Stack Traces | 3.12s 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 0xff0604d29b80>

.../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 0xff068779f3d0>}
        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 0xff068779f9d0>
        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 0xff068779f9d0>,)
        kwargs     = {}
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xff06127009e0>
....../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 0xff068779f9d0>
        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 0xff068779f9d0>,)
        ntpath     = <module 'ntpath' (frozen)>
        paths      = []
        self       = <[AttributeError("'PosixPath' object has no attribute '_raw_paths'") raised in repr()] PosixPath object at 0xff06127009e0>
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 0xff068779f9d0>
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 0xff068779f9d0>
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': 'c4497905-b5c7-48b0-890f-d78aae61496e.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_both_arm_chains_are_symmetric_and_use_two_rad_s_limits

Stack Traces | 3.13s 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 0xffc86d51c250>
        tree       = <xml.etree.ElementTree.ElementTree object at 0xffc7f5d5c680>
....../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 0xffc7f5d5c680>
        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 0xffc86d51c250>
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 0xffc86d51c250>
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 0xffc86d51c250>
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': 'c4497905-b5c7-48b0-890f-d78aae61496e.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 | 3.14s run time

adapter = <dimos.hardware.whole_body.dual_openyam_damiao.adapter.DualOpenYamDamiaoAdapter object at 0xff06fc47d580>

    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 0xff06fc47d580>.connect

adapter    = <dimos.hardware.whole_body.dual_openyam_damiao.adapter.DualOpenYamDamiaoAdapter object at 0xff06fc47d580>

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

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

Stack Traces | 3.15s 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 0xffc86d51c250>
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 0xffc86d51c250>
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': 'c4497905-b5c7-48b0-890f-d78aae61496e.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 | 3.15s 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 0xffc86d51c250>
        tree       = <xml.etree.ElementTree.ElementTree object at 0xffc7f7eaad50>
....../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 0xffc7f7eaad50>
        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 0xffc86d51c250>
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 0xffc86d51c250>
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 0xffc86d51c250>
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': 'c4497905-b5c7-48b0-890f-d78aae61496e.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 | 3.15s 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 0xffc86d51c250>
        tree       = <xml.etree.ElementTree.ElementTree object at 0xffc7f5d5d400>
....../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 0xffc7f5d5d400>
        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 0xffc86d51c250>
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 0xffc86d51c250>
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 0xffc86d51c250>
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': 'c4497905-b5c7-48b0-890f-d78aae61496e.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 | 3.18s 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 0xfff6e6266540>

    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 0xfff6e6266540>

.../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          = 281435888313664
        memo       = {281435638493952: [['left_arm/joint1', 'left_arm/joint2', 'left_arm/joint3', 'left_arm/joint4', 'left_arm/joint5', 'le...apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None), ...}, 281435877618368: {}, ...}
        reductor   = <built-in method __reduce_ex__ of TaskConfig object at 0xfff6e6266540>
        rv         = (<function __newobj__ at 0xfff7d38905e0>, (<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 0xfff6e6266540>
        y          = []
............................../usr/lib/python3.12/copy.py:259: in _reconstruct
    state = deepcopy(state, memo)
        args       = <generator object _reconstruct.<locals>.<genexpr> at 0xfff6d76574c0>
        deep       = True
        deepcopy   = <function deepcopy at 0xfff7d322a020>
        dictiter   = None
        func       = <function __newobj__ at 0xfff7d38905e0>
        listiter   = None
        memo       = {281435638493952: [['left_arm/joint1', 'left_arm/joint2', 'left_arm/joint3', 'left_arm/joint4', 'left_arm/joint5', 'le...apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None), ...}, 281435877618368: {}, ...}
        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 0xfff6e6266540>
        y          = <[AttributeError("'TaskConfig' object has no attribute 'name'") raised in repr()] TaskConfig object at 0xfff6d75e9430>
............................../usr/lib/python3.12/copy.py:136: in deepcopy
    y = copier(x, memo)
        _nil       = []
        cls        = <class 'dict'>
        copier     = <function _deepcopy_dict at 0xfff7d3028ae0>
        d          = 281435638667520
        memo       = {281435638493952: [['left_arm/joint1', 'left_arm/joint2', 'left_arm/joint3', 'left_arm/joint4', 'left_arm/joint5', 'le...apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None), ...}, 281435877618368: {}, ...}
        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 0xfff7d322a020>
        key        = 'params'
        memo       = {281435638493952: [['left_arm/joint1', 'left_arm/joint2', 'left_arm/joint3', 'left_arm/joint4', 'left_arm/joint5', 'le...apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None), ...}, 281435877618368: {}, ...}
        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 0xfff7d3028ae0>
        d          = 281435877618368
        memo       = {281435638493952: [['left_arm/joint1', 'left_arm/joint2', 'left_arm/joint3', 'left_arm/joint4', 'left_arm/joint5', 'le...apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None), ...}, 281435877618368: {}, ...}
        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 0xfff7d322a020>
        key        = 'robot_model'
        memo       = {281435638493952: [['left_arm/joint1', 'left_arm/joint2', 'left_arm/joint3', 'left_arm/joint4', 'left_arm/joint5', 'le...apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None), ...}, 281435877618368: {}, ...}
        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 0xfff6e5f01fe0>
        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 0xfff6d749a140>
        d          = 281435884756960
        memo       = {281435638493952: [['left_arm/joint1', 'left_arm/joint2', 'left_arm/joint3', 'left_arm/joint4', 'left_arm/joint5', 'le...apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None), ...}, 281435877618368: {}, ...}
        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 0xfff6e5f01fe0>
        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       = {281435638493952: [['left_arm/joint1', 'left_arm/joint2', 'left_arm/joint3', 'left_arm/joint4', 'left_arm/joint5', 'le...apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None), ...}, 281435877618368: {}, ...}
        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 0xfff6e5f01fe0>
............................../usr/lib/python3.12/copy.py:136: in deepcopy
    y = copier(x, memo)
        _nil       = []
        cls        = <class 'dict'>
        copier     = <function _deepcopy_dict at 0xfff7d3028ae0>
        d          = 281435868707456
        memo       = {281435638493952: [['left_arm/joint1', 'left_arm/joint2', 'left_arm/joint3', 'left_arm/joint4', 'left_arm/joint5', 'le...apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None), ...}, 281435877618368: {}, ...}
        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 0xfff7d322a020>
        key        = 'model_path'
        memo       = {281435638493952: [['left_arm/joint1', 'left_arm/joint2', 'left_arm/joint3', 'left_arm/joint4', 'left_arm/joint5', 'le...apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None), ...}, 281435877618368: {}, ...}
        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 0xfff74dd934d0>
        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          = 281437628085456
        memo       = {281435638493952: [['left_arm/joint1', 'left_arm/joint2', 'left_arm/joint3', 'left_arm/joint4', 'left_arm/joint5', 'le...apartment', dimsim_port=8090, dimsim_headless=True, local_relay=False, relay_url=None), ...}, 281435877618368: {}, ...}
        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 0xfff74dd934d0>
        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 0xfff74dd934d0>
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 0xfff74dd934d0>
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': 'c4497905-b5c7-48b0-890f-d78aae61496e.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 0xfff6d7425580>
        self       = <dimos.core.coordination.blueprint_config.parser.BlueprintConfigParser object at 0xfff6d75eb350>
.../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 0xfff6e6266540>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

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 0xfff6e6266540>

    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 0xfff6e6266540>

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

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