feat(a1z): a1z learning workflow

[TomCC7]

Contribution path

• Stacked on the isolated LeRobot policy runtime in feat: LeRobot rollout on openyam #3315.

Problem

The A1Z learning workflow needs safe teaching, replay, dataset preparation, and learned-policy execution on top of the shared hardware and isolated LeRobot layers.

Solution

• Add episode loading, validation, smoothing, time scaling, and replay trajectory generation.
• Add A1Z teach, replay, and policy blueprint factories using the isolated LeRobot contract from feat: LeRobot rollout on openyam #3315.
• Extend the current dimos hardware a1z CLI with teach, replay, and run-policy while preserving the lower stack's diagnostics and CAN configuration.
• Add episode undo support, the Galaxea A1Z data-preparation profile, immediate camera metadata, and deterministic recorder shutdown.
• Preserve the newer A1Z hardware implementation already present below feat(damiao): support native macOS CAN transport #3465 instead of replaying obsolete hardware commits.

How to Test

Focused A1Z CLI, camera, episode monitor, data-preparation, recorder, teach, and replay suites: 62 passed.

Targeted mypy passed for seven production modules. Blueprint generation and changed-file pre-commit checks passed.

Checklist

• CLA signed, if required
• Tests added or updated
• Documentation added or updated

[codecov]

❌ 14 Tests Failed:

Tests completed	Failed	Passed	Skipped
4510	14	4496	178

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

::dimos.imitation.policy.lerobot.python.tests.test_dataprep

Stack Traces | 0s run time

ImportError while importing test module '.../python/tests/test_dataprep.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../python/tests/test_dataprep.py:19: in <module>
    from dimos_lerobot.dataprep import write
E   ModuleNotFoundError: No module named 'dimos_lerobot'

::dimos.imitation.policy.lerobot.python.tests.test_runtime

Stack Traces | 0s run time

ImportError while importing test module '.../python/tests/test_runtime.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
.../python/tests/test_runtime.py:22: in <module>
    from dimos_lerobot import runtime as policy_runtime
E   ModuleNotFoundError: No module named 'dimos_lerobot'

dimos.robot.manipulators.a1z.test_teach_replay::test_policy_blueprint_uses_catalog_and_all_joints

Stack Traces | 0.002s run time

monkeypatch = <_pytest.monkeypatch.MonkeyPatch object at 0xffcc2f7422d0>

    def test_policy_blueprint_uses_catalog_and_all_joints(monkeypatch) -> None:
        fake_runtime = ModuleType("dimos.experimental.robot_policy.lerobot")
        fake_runtime.LeRobotPolicyConfig = _FakePolicyConfig
        fake_runtime.LeRobotPolicyModule = _FakePolicyModule
        monkeypatch.setitem(sys.modules, "dimos.experimental.robot_policy.lerobot", fake_runtime)
        policies = {"pick": _FakePolicyConfig(policy_path="checkpoints/pick")}
    
>       blueprint = make_a1z_learned_policy_blueprint(
            policies,
            policy_module=_FakePolicyModule,
        )

fake_runtime = <module 'dimos.experimental.robot_policy.lerobot'>
monkeypatch = <_pytest.monkeypatch.MonkeyPatch object at 0xffcc2f7422d0>
policies   = {'pick': _FakePolicyConfig(policy_path='checkpoints/pick')}

.../manipulators/a1z/test_teach_replay.py:121: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

policies = {'pick': _FakePolicyConfig(policy_path='checkpoints/pick')}

    def make_a1z_learned_policy_blueprint(
        policies: dict[str, LeRobotPolicyConfig],
        *,
        policy_module: type[LeRobotPolicyModule] | None = None,
        camera_index: int = 0,
        fps: float = A1Z_TEACH_CAMERA_FPS,
    ) -> Blueprint:
        """Compose an A1Z stack exposing a catalog of trained LeRobot policies."""
        if policy_module is None:
            # LeRobot is optional and intentionally imported only when this factory is used.
            from dimos.imitation.policy.lerobot.module import LeRobotPolicyModule
    
            policy_module = LeRobotPolicyModule
>       hardware = a1z_hardware(
            "arm",
            has_gripper=True,
            dynamics_urdf_path=A1Z_G1Z_MODEL_PATH,
        )
E       TypeError: a1z_hardware() got an unexpected keyword argument 'has_gripper'

camera_index = 0
fps        = 15.0
policies   = {'pick': _FakePolicyConfig(policy_path='checkpoints/pick')}
policy_module = <class 'dimos.robot.manipulators.a1z.test_teach_replay._FakePolicyModule'>

.../a1z/blueprints/learning.py:160: TypeError

dimos.robot.manipulators.a1z.test_teach_replay::test_replay_blueprint_controls_arm_and_gripper

Stack Traces | 0.002s run time

def test_replay_blueprint_controls_arm_and_gripper() -> None:
>       blueprint = make_a1z_replay_blueprint()


.../manipulators/a1z/test_teach_replay.py:105: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

    def make_a1z_replay_blueprint() -> Blueprint:
        """Run a validated seven-joint arm/gripper trajectory through the coordinator."""
>       hardware = a1z_hardware(
            "arm",
            has_gripper=True,
            dynamics_urdf_path=A1Z_G1Z_MODEL_PATH,
        )
E       TypeError: a1z_hardware() got an unexpected keyword argument 'has_gripper'


.../a1z/blueprints/learning.py:104: TypeError

dimos.robot.manipulators.a1z.test_teach_replay::test_teach_blueprint_records_webcam_and_all_joint_state

Stack Traces | 0.002s run time

tmp_path = PosixPath('.../pytest-0/popen-gw2/test_teach_blueprint_records_w0')

    def test_teach_blueprint_records_webcam_and_all_joint_state(tmp_path: Path) -> None:
>       blueprint = make_a1z_teach_blueprint(tmp_path / "teach.db", camera_index=3)

tmp_path   = PosixPath('.../pytest-0/popen-gw2/test_teach_blueprint_records_w0')

.../manipulators/a1z/test_teach_replay.py:85: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

db_path = PosixPath('.../pytest-0/popen-gw2/test_teach_blueprint_records_w0/teach.db')

    def make_a1z_teach_blueprint(
        db_path: Path,
        *,
        task_label: str | None = None,
        camera_index: int = 0,
        gripper_free_drive: bool = False,
    ) -> Blueprint:
        """Record camera and measured arm/gripper state while hand-drivable."""
>       hardware = a1z_hardware(
            "arm",
            has_gripper=True,
            dynamics_urdf_path=A1Z_G1Z_MODEL_PATH,
            adapter_config=A1ZConfig(
                gripper=A1ZGripperConfig(),
                teaching=A1ZTeachingConfig(gripper_free_drive=gripper_free_drive),
            ),
        )
E       TypeError: a1z_hardware() got an unexpected keyword argument 'has_gripper'

camera_index = 3
db_path    = PosixPath('.../pytest-0/popen-gw2/test_teach_blueprint_records_w0/teach.db')
gripper_free_drive = False
task_label = None

.../a1z/blueprints/learning.py:78: TypeError

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

Stack Traces | 0.003s 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 0xffbec19ba990>
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 0xffbec19b9d30>
blueprint_name = 'teleop-quest-dual-openyam'
listing    = "  - dimos.teleop.quest.quest_extensions.ArmTeleopModule: unknown kwargs ['task_names']"
unknown_kwargs = []
violations = ["dimos.teleop.quest.quest_extensions.ArmTeleopModule: unknown kwargs ['task_names']"]

dimos/codebase_checks/test_blueprint_kwargs.py:103: AssertionError

dimos.codebase_checks.test_no_init_files::test_no_init_files

Stack Traces | 0.022s 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             - .../python/dimos_lerobot/__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/.../python/dimos_lerobot/__init__.py')]
listing    = '  - .../python/dimos_lerobot/__init__.py'

dimos/codebase_checks/test_no_init_files.py:25: AssertionError

dimos.core.test_isolated_python_end_to_end::test_isolated_python_rpc_refs_and_restart

Stack Traces | 2.75s run time

+ Exception Group Traceback (most recent call last):
  |   File ".../dimos/dimos/.venv/lib/python3.12........./site-packages/_pytest/runner.py", line 341, in from_call
  |     result: TResult | None = func()
  |                              ^^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12........./site-packages/_pytest/runner.py", line 242, in <lambda>
  |     lambda: runtest_hook(item=item, **kwds), when=when, reraise=reraise
  |             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12....../site-packages/pluggy/_hooks.py", line 512, in __call__
  |     return self._hookexec(self.name, self._hookimpls.copy(), kwargs, firstresult)
  |            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12....../site-packages/pluggy/_manager.py", line 120, in _hookexec
  |     return self._inner_hookexec(hook_name, methods, kwargs, firstresult)
  |            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 167, in _multicall
  |     raise exception
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 139, in _multicall
  |     teardown.throw(exception)
  |   File ".../dimos/dimos/.venv/lib/python3.12....../site-packages/_pytest/threadexception.py", line 92, in pytest_runtest_call
  |     yield from thread_exception_runtest_hook()
  |   File ".../dimos/dimos/.venv/lib/python3.12....../site-packages/_pytest/threadexception.py", line 68, in thread_exception_runtest_hook
  |     yield
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 139, in _multicall
  |     teardown.throw(exception)
  |   File ".../dimos/dimos/.venv/lib/python3.12....../site-packages/_pytest/unraisableexception.py", line 95, in pytest_runtest_call
  |     yield from unraisable_exception_runtest_hook()
  |   File ".../dimos/dimos/.venv/lib/python3.12....../site-packages/_pytest/unraisableexception.py", line 70, in unraisable_exception_runtest_hook
  |     yield
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 139, in _multicall
  |     teardown.throw(exception)
  |   File ".../dimos/dimos/.venv/lib/python3.12....../site-packages/_pytest/logging.py", line 846, in pytest_runtest_call
  |     yield from self._runtest_for(item, "call")
  |   File ".../dimos/dimos/.venv/lib/python3.12....../site-packages/_pytest/logging.py", line 829, in _runtest_for
  |     yield
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 139, in _multicall
  |     teardown.throw(exception)
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 53, in run_old_style_hookwrapper
  |     return result.get_result()
  |            ^^^^^^^^^^^^^^^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12............/site-packages/pluggy/_result.py", line 103, in get_result
  |     raise exc.with_traceback(tb)
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 38, in run_old_style_hookwrapper
  |     res = yield
  |           ^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 139, in _multicall
  |     teardown.throw(exception)
  |   File ".../dimos/dimos/.venv/lib/python3.12.../site-packages/_pytest/capture.py", line 898, in pytest_runtest_call
  |     return (yield)
  |             ^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 139, in _multicall
  |     teardown.throw(exception)
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 53, in run_old_style_hookwrapper
  |     return result.get_result()
  |            ^^^^^^^^^^^^^^^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12............/site-packages/pluggy/_result.py", line 103, in get_result
  |     raise exc.with_traceback(tb)
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 38, in run_old_style_hookwrapper
  |     res = yield
  |           ^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 139, in _multicall
  |     teardown.throw(exception)
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 53, in run_old_style_hookwrapper
  |     return result.get_result()
  |            ^^^^^^^^^^^^^^^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12............/site-packages/pluggy/_result.py", line 103, in get_result
  |     raise exc.with_traceback(tb)
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 38, in run_old_style_hookwrapper
  |     res = yield
  |           ^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 139, in _multicall
  |     teardown.throw(exception)
  |   File ".../dimos/dimos/.venv/lib/python3.12.../site-packages/_pytest/skipping.py", line 257, in pytest_runtest_call
  |     return (yield)
  |             ^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 121, in _multicall
  |     res = hook_impl.function(*args)
  |           ^^^^^^^^^^^^^^^^^^^^^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12........./site-packages/_pytest/runner.py", line 174, in pytest_runtest_call
  |     item.runtest()
  |   File ".../dimos/dimos/.venv/lib/python3.12....../site-packages/_pytest/python.py", line 1627, in runtest
  |     self.ihook.pytest_pyfunc_call(pyfuncitem=self)
  |   File ".../dimos/dimos/.venv/lib/python3.12....../site-packages/pluggy/_hooks.py", line 512, in __call__
  |     return self._hookexec(self.name, self._hookimpls.copy(), kwargs, firstresult)
  |            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12....../site-packages/pluggy/_manager.py", line 120, in _hookexec
  |     return self._inner_hookexec(hook_name, methods, kwargs, firstresult)
  |            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 167, in _multicall
  |     raise exception
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 139, in _multicall
  |     teardown.throw(exception)
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 53, in run_old_style_hookwrapper
  |     return result.get_result()
  |            ^^^^^^^^^^^^^^^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12............/site-packages/pluggy/_result.py", line 103, in get_result
  |     raise exc.with_traceback(tb)
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 38, in run_old_style_hookwrapper
  |     res = yield
  |           ^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12.............................................................../site-packages/pluggy/_callers.py", line 121, in _multicall
  |     res = hook_impl.function(*args)
  |           ^^^^^^^^^^^^^^^^^^^^^^^^^
  |   File ".../dimos/dimos/.venv/lib/python3.12....../site-packages/_pytest/python.py", line 159, in pytest_pyfunc_call
  |     result = testfunction(**testargs)
  |              ^^^^^^^^^^^^^^^^^^^^^^^^
  |   File ".../dimos/core/test_isolated_python_end_to_end.py", line 59, in test_isolated_python_rpc_refs_and_restart
  |     coordinator = ModuleCoordinator.build(
  |                   ^^^^^^^^^^^^^^^^^^^^^^^^
  |   File ".../core/coordination/module_coordinator.py", line 371, in build
  |     coordinator.build_all_modules()
  |   File ".../core/coordination/module_coordinator.py", line 248, in build_all_modules
  |     safe_thread_map(modules, lambda m: m.build())
  |   File ".../dimos/utils/safe_thread_map.py", line 84, in safe_thread_map
  |     raise ExceptionGroup("safe_thread_map failed", errors)
  | ExceptionGroup: safe_thread_map failed (1 sub-exception)
  +-+---------------- 1 ----------------
    | dimos.protocol.rpc.rpc_utils.RemoteError: [Remote builtins.RuntimeError] Isolated Python environment preparation failed (exit 1): Using CPython 3.12.3 interpreter at: ........./usr/bin/python3.12
    | Creating virtual environment at: ........./home/runner/.cache........./dimos/python-native/external_python_module-c5c794f5b247
    | Resolved 195 packages in 646ms
    | error: The lockfile at `uv.lock` needs to be updated, but `--locked` was
    |        provided.
    | 
    | hint: To update the lockfile, run `uv lock`.
    | 
    | Remote traceback:
    | Traceback (most recent call last):
    |   File ".../protocol/rpc/pubsubrpc.py", line 280, in execute_and_respond
    |     response = f(*args[0], **args[1])
    |                ^^^^^^^^^^^^^^^^^^^^^^
    |   File ".../protocol/rpc/spec.py", line 116, in override_f
    |     return getattr(module, fname)(*args, **kwargs)
    |            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
    |   File ".../dimos/core/isolated_python_module.py", line 265, in build
    |     super().build()
    |   File ".../dimos/core/native_module.py", line 236, in build
    |     self._maybe_build()
    |   File ".../dimos/core/isolated_python_module.py", line 261, in _maybe_build
    |     self._run_prepare()
    |   File ".../dimos/core/isolated_python_module.py", line 160, in _run_prepare
    |     raise RuntimeError(
    | RuntimeError: Isolated Python environment preparation failed (exit 1): Using CPython 3.12.3 interpreter at: ........./usr/bin/python3.12
    | Creating virtual environment at: ........./home/runner/.cache........./dimos/python-native/external_python_module-c5c794f5b247
    | Resolved 195 packages in 646ms
    | error: The lockfile at `uv.lock` needs to be updated, but `--locked` was
    |        provided.
    | 
    | hint: To update the lockfile, run `uv lock`.
    | 
    | 
    | The above exception was the direct cause of the following exception:
    | 
    | Traceback (most recent call last):
    |   File ".../dimos/utils/safe_thread_map.py", line 68, in safe_thread_map
    |     outcomes[idx] = fut.result()
    |                     ^^^^^^^^^^^^
    |   File "........./usr/lib/python3.12....../concurrent/futures/_base.py", line 449, in result
    |     return self.__get_result()
    |            ^^^^^^^^^^^^^^^^^^^
    |   File "........./usr/lib/python3.12....../concurrent/futures/_base.py", line 401, in __get_result
    |     raise self._exception
    |   File "........./usr/lib/python3.12.../concurrent/futures/thread.py", line 58, in run
    |     result = self.fn(*self.args, **self.kwargs)
    |              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
    |   File ".../core/coordination/module_coordinator.py", line 248, in <lambda>
    |     safe_thread_map(modules, lambda m: m.build())
    |                                        ^^^^^^^^^
    |   File ".../dimos/core/rpc_client.py", line 93, in __call__
    |     result, unsub_fn = self._rpc.call_sync(
    |                        ^^^^^^^^^^^^^^^^^^^^
    |   File ".../protocol/rpc/spec.py", line 88, in call_sync
    |     raise result
    | RuntimeError: Isolated Python environment preparation failed (exit 1): Using CPython 3.12.3 interpreter at: ........./usr/bin/python3.12
    | Creating virtual environment at: ........./home/runner/.cache........./dimos/python-native/external_python_module-c5c794f5b247
    | Resolved 195 packages in 646ms
    | error: The lockfile at `uv.lock` needs to be updated, but `--locked` was
    |        provided.
    | 
    | hint: To update the lockfile, run `uv lock`.
    +------------------------------------

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 0xff4e98641040>

    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 0xff4e98641040>.connect

adapter    = <dimos.hardware.whole_body.dual_openyam_damiao.adapter.DualOpenYamDamiaoAdapter object at 0xff4e98641040>

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

dimos.robot.manipulators.openyam.test_openyam::test_quest_teleop_selects_physical_hardware_with_explicit_can_port

Stack Traces | 3.21s run time

value = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xff4f0597eed0>

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

value      = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xff4f0597eed0>

.../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          = 280714861342416
        memo       = {280712766331648: [['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint6'], {'build': 864...ror("'RobotModel' object has no attribute '_source_path'") raised in repr()] RobotModel object at 0xff4e981fd520>, ...}
        reductor   = <built-in method __reduce_ex__ of TaskConfig object at 0xff4f0597eed0>
        rv         = (<function __newobj__ at 0xff4f8b0b05e0>, (<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/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xff4f0597eed0>
        y          = []
........................................../usr/lib/python3.12/copy.py:259: in _reconstruct
    state = deepcopy(state, memo)
        args       = <generator object _reconstruct.<locals>.<genexpr> at 0xff4e88b0a890>
        deep       = True
        deepcopy   = <function deepcopy at 0xff4f8aa42020>
        dictiter   = None
        func       = <function __newobj__ at 0xff4f8b0b05e0>
        listiter   = None
        memo       = {280712766331648: [['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint6'], {'build': 864...ror("'RobotModel' object has no attribute '_source_path'") raised in repr()] RobotModel object at 0xff4e981fd520>, ...}
        state      = {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint...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/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xff4f0597eed0>
        y          = <[AttributeError("'TaskConfig' object has no attribute 'name'") raised in repr()] TaskConfig object at 0xff4e981e2030>
........................................../usr/lib/python3.12/copy.py:136: in deepcopy
    y = copier(x, memo)
        _nil       = []
        cls        = <class 'dict'>
        copier     = <function _deepcopy_dict at 0xff4f8a840ae0>
        d          = 280712766340800
        memo       = {280712766331648: [['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint6'], {'build': 864...ror("'RobotModel' object has no attribute '_source_path'") raised in repr()] RobotModel object at 0xff4e981fd520>, ...}
        x          = {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint...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 0xff4f8aa42020>
        key        = 'params'
        memo       = {280712766331648: [['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint6'], {'build': 864...ror("'RobotModel' object has no attribute '_source_path'") raised in repr()] RobotModel object at 0xff4e981fd520>, ...}
        value      = {'bindings': [{'hand': 'right', 'target_frame': 'gripper_tip'}], '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': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint...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': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint6'], 'name': 'teleop_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 0xff4f8a840ae0>
        d          = 280714858619008
        memo       = {280712766331648: [['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint6'], {'build': 864...ror("'RobotModel' object has no attribute '_source_path'") raised in repr()] RobotModel object at 0xff4e981fd520>, ...}
        x          = {'bindings': [{'hand': 'right', 'target_frame': 'gripper_tip'}], '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 0xff4f8aa42020>
        key        = 'robot_model'
        memo       = {280712766331648: [['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint6'], {'build': 864...ror("'RobotModel' object has no attribute '_source_path'") raised in repr()] RobotModel object at 0xff4e981fd520>, ...}
        value      = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModelConfig object at 0xff4f05852210>
        x          = {'bindings': [{'hand': 'right', 'target_frame': 'gripper_tip'}], '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/yam_description.tar.gz after 3 attempt...scription.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] method object at 0xff4e98301f00>
        d          = 280714860110352
        memo       = {280712766331648: [['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint6'], {'build': 864...ror("'RobotModel' object has no attribute '_source_path'") raised in repr()] RobotModel object at 0xff4e981fd520>, ...}
        x          = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModelConfig object at 0xff4f05852210>
        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       = {280712766331648: [['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint6'], {'build': 864...ror("'RobotModel' object has no attribute '_source_path'") raised in repr()] RobotModel object at 0xff4e981fd520>, ...}
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModelConfig object at 0xff4f05852210>
........................................../usr/lib/python3.12/copy.py:136: in deepcopy
    y = copier(x, memo)
        _nil       = []
        cls        = <class 'dict'>
        copier     = <function _deepcopy_dict at 0xff4f8a840ae0>
        d          = 280714858601920
        memo       = {280712766331648: [['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint6'], {'build': 864...ror("'RobotModel' object has no attribute '_source_path'") raised in repr()] RobotModel object at 0xff4e981fd520>, ...}
        x          = {'auto_convert_meshes': True, 'base_link': '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 0xff4f8aa42020>
        key        = 'model'
        memo       = {280712766331648: [['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint6'], {'build': 864...ror("'RobotModel' object has no attribute '_source_path'") raised in repr()] RobotModel object at 0xff4e981fd520>, ...}
        value      = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModel object at 0xff4f0564cbc0>
        x          = {'auto_convert_meshes': True, 'base_link': '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...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
........................................../usr/lib/python3.12/copy.py:162: in deepcopy
    y = _reconstruct(x, memo, *rv)
        _nil       = []
        cls        = <class 'dimos.robot.assets.model.RobotModel'>
        copier     = None
        d          = 280714857991104
        memo       = {280712766331648: [['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint6'], {'build': 864...ror("'RobotModel' object has no attribute '_source_path'") raised in repr()] RobotModel object at 0xff4e981fd520>, ...}
        reductor   = <built-in method __reduce_ex__ of RobotModel object at 0xff4f0564cbc0>
        rv         = (<function __newobj__ at 0xff4f8b0b05e0>, (<class 'dimos.robot.assets.model.RobotModel'>,), {'_fixed_frames': (), '_fi...xclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff4f05788fd0>),), ...}, None, None)
        x          = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModel object at 0xff4f0564cbc0>
        y          = []
........................................../usr/lib/python3.12/copy.py:259: in _reconstruct
    state = deepcopy(state, memo)
        args       = <generator object _reconstruct.<locals>.<genexpr> at 0xff4e88b0ac50>
        deep       = True
        deepcopy   = <function deepcopy at 0xff4f8aa42020>
        dictiter   = None
        func       = <function __newobj__ at 0xff4f8b0b05e0>
        listiter   = None
        memo       = {280712766331648: [['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint6'], {'build': 864...ror("'RobotModel' object has no attribute '_source_path'") raised in repr()] RobotModel object at 0xff4e981fd520>, ...}
        state      = {'_fixed_frames': (), '_fixed_joints': (), '_joint_position_limits': (), '_package_paths': (('yam_description', <[Runt...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff4f05788fd0>),), ...}
        x          = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModel object at 0xff4f0564cbc0>
        y          = <[AttributeError("'RobotModel' object has no attribute '_source_path'") raised in repr()] RobotModel object at 0xff4e981fd520>
........................................../usr/lib/python3.12/copy.py:136: in deepcopy
    y = copier(x, memo)
        _nil       = []
        cls        = <class 'dict'>
        copier     = <function _deepcopy_dict at 0xff4f8a840ae0>
        d          = 280713055650048
        memo       = {280712766331648: [['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint6'], {'build': 864...ror("'RobotModel' object has no attribute '_source_path'") raised in repr()] RobotModel object at 0xff4e981fd520>, ...}
        x          = {'_fixed_frames': (), '_fixed_joints': (), '_joint_position_limits': (), '_package_paths': (('yam_description', <[Runt...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff4f05788fd0>),), ...}
        y          = []
........................................../usr/lib/python3.12/copy.py:221: in _deepcopy_dict
    y[deepcopy(key, memo)] = deepcopy(value, memo)
        deepcopy   = <function deepcopy at 0xff4f8aa42020>
        key        = '_source_path'
        memo       = {280712766331648: [['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint6'], {'build': 864...ror("'RobotModel' object has no attribute '_source_path'") raised in repr()] RobotModel object at 0xff4e981fd520>, ...}
        value      = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...cription.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff4f0578a650>
        x          = {'_fixed_frames': (), '_fixed_joints': (), '_joint_position_limits': (), '_package_paths': (('yam_description', <[Runt...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff4f05788fd0>),), ...}
        y          = {}
........................................../usr/lib/python3.12/copy.py:141: in deepcopy
    copier = getattr(x, "__deepcopy__", None)
        _nil       = []
        cls        = <class 'dimos.utils.data.LfsPath'>
        copier     = None
        d          = 280714859292240
        memo       = {280712766331648: [['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint6'], {'build': 864...ror("'RobotModel' object has no attribute '_source_path'") raised in repr()] RobotModel object at 0xff4e981fd520>, ...}
        x          = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...cription.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff4f0578a650>
        y          = []
dimos/utils/data.py:370: in __getattribute__
    resolved = object.__getattribute__(self, "_ensure_downloaded")()
        name       = '__deepcopy__'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...cription.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff4f0578a650>
dimos/utils/data.py:353: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'yam_description/i2rt/yam.urdf'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...cription.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff4f0578a650>
dimos/utils/data.py:310: 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/i2rt/yam.urdf')
        name       = 'yam_description/i2rt/yam.urdf'
        nested_path = PosixPath('i2rt/yam.urdf')
        path_parts = ('yam_description', 'i2rt', 'yam.urdf')
dimos/utils/data.py:254: 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(
                    # --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/yam_description.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.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': '8e3d288c-f44d-443d-86e2-4726cfd4a386.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', '--exclude='])
relative_path = PosixPath('data/.lfs/yam_description.tar.gz')
repo_root  = PosixPath('.../work/dimos/dimos')
retries    = 2

dimos/utils/data.py:224: RuntimeError

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

    def test_quest_teleop_selects_physical_hardware_with_explicit_can_port() -> None:
>       parsed = BlueprintConfigParser(teleop_quest_openyam).parse(
            ["--can-port", "can8"],
            environ={},
        )


.../manipulators/openyam/test_openyam.py:92: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../coordination/blueprint_config/parser.py:169: in parse
    key: plain(value)
        cli_tokens = ['--can-port', 'can8']
        config_path = None
        environ    = {}
        global_overrides = None
        overrides  = None
        schema     = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...ion.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] ParserSchema object at 0xff4e981c0340>
        self       = <dimos.core.coordination.blueprint_config.parser.BlueprintConfigParser object at 0xff4e98238920>
.../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/yam_description.tar.gz after 3 attemp...arm/joint6', 'arm/gripper'], 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/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xff4f0597eed0>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

value = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xff4f0597eed0>

    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/yam_description.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz', '--exclude=']' returned non-zero exit status 1.

value      = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xff4f0597eed0>

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

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

Stack Traces | 3.21s 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 0xffbec19b95e0>

    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 0xffbec19b95e0>

.../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          = 281194757068256
        memo       = {281194745647168: GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, ..., relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}, 281194751129088: {}, ...}
        reductor   = <built-in method __reduce_ex__ of TaskConfig object at 0xffbec19b95e0>
        rv         = (<function __newobj__ at 0xffbfb1f745e0>, (<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 0xffbec19b95e0>
        y          = []
........................................../usr/lib/python3.12/copy.py:259: in _reconstruct
    state = deepcopy(state, memo)
        args       = <generator object _reconstruct.<locals>.<genexpr> at 0xffbf9c4cfb50>
        deep       = True
        deepcopy   = <function deepcopy at 0xffbfb190e020>
        dictiter   = None
        func       = <function __newobj__ at 0xffbfb1f745e0>
        listiter   = None
        memo       = {281194745647168: GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, ..., relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}, 281194751129088: {}, ...}
        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 0xffbec19b95e0>
        y          = <[AttributeError("'TaskConfig' object has no attribute 'name'") raised in repr()] TaskConfig object at 0xffbf9c5feb70>
........................................../usr/lib/python3.12/copy.py:136: in deepcopy
    y = copier(x, memo)
        _nil       = []
        cls        = <class 'dict'>
        copier     = <function _deepcopy_dict at 0xffbfb170cae0>
        d          = 281198423787648
        memo       = {281194745647168: GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, ..., relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}, 281194751129088: {}, ...}
        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 0xffbfb190e020>
        key        = 'params'
        memo       = {281194745647168: GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, ..., relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}, 281194751129088: {}, ...}
        value      = {'bindings': [{'hand': 'left', 'target_frame': 'left_grasp_frame'}, {'hand': 'right', 'target_frame': 'right_grasp_fra..., '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 0xffbfb170cae0>
        d          = 281194751129088
        memo       = {281194745647168: GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, ..., relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}, 281194751129088: {}, ...}
        x          = {'bindings': [{'hand': 'left', 'target_frame': 'left_grasp_frame'}, {'hand': 'right', 'target_frame': 'right_grasp_fra..., '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 0xffbfb190e020>
        key        = 'robot_model'
        memo       = {281194745647168: GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, ..., relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}, 281194751129088: {}, ...}
        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 0xffbec0ed5090>
        x          = {'bindings': [{'hand': 'left', 'target_frame': 'left_grasp_frame'}, {'hand': 'right', 'target_frame': 'right_grasp_fra..., '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 0xffbf9c25b280>
        d          = 281194745647248
        memo       = {281194745647168: GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, ..., relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}, 281194751129088: {}, ...}
        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 0xffbec0ed5090>
        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       = {281194745647168: GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, ..., relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}, 281194751129088: {}, ...}
        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 0xffbec0ed5090>
........................................../usr/lib/python3.12/copy.py:136: in deepcopy
    y = copier(x, memo)
        _nil       = []
        cls        = <class 'dict'>
        copier     = <function _deepcopy_dict at 0xffbfb170cae0>
        d          = 281194751128768
        memo       = {281194745647168: GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, ..., relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}, 281194751129088: {}, ...}
        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 0xffbfb190e020>
        key        = 'model'
        memo       = {281194745647168: GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, ..., relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}, 281194751129088: {}, ...}
        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()] RobotModel object at 0xffbf2c93c080>
        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...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
........................................../usr/lib/python3.12/copy.py:162: in deepcopy
    y = _reconstruct(x, memo, *rv)
        _nil       = []
        cls        = <class 'dimos.robot.assets.model.RobotModel'>
        copier     = None
        d          = 281196551716992
        memo       = {281194745647168: GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, ..., relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}, 281194751129088: {}, ...}
        reductor   = <built-in method __reduce_ex__ of RobotModel object at 0xffbf2c93c080>
        rv         = (<function __newobj__ at 0xffbfb1f745e0>, (<class 'dimos.robot.assets.model.RobotModel'>,), {'_fixed_frames': (), '_fi...xclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffbf2c62ca50>),), ...}, 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()] RobotModel object at 0xffbf2c93c080>
        y          = []
........................................../usr/lib/python3.12/copy.py:259: in _reconstruct
    state = deepcopy(state, memo)
        args       = <generator object _reconstruct.<locals>.<genexpr> at 0xffbf9c520400>
        deep       = True
        deepcopy   = <function deepcopy at 0xffbfb190e020>
        dictiter   = None
        func       = <function __newobj__ at 0xffbfb1f745e0>
        listiter   = None
        memo       = {281194745647168: GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, ..., relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}, 281194751129088: {}, ...}
        state      = {'_fixed_frames': (), '_fixed_joints': (), '_joint_position_limits': (), '_package_paths': (('dual_openyam_abc_box', <...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffbf2c62ca50>),), ...}
        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()] RobotModel object at 0xffbf2c93c080>
        y          = <[AttributeError("'RobotModel' object has no attribute '_source_path'") raised in repr()] RobotModel object at 0xffbf9c5ffb30>
........................................../usr/lib/python3.12/copy.py:136: in deepcopy
    y = copier(x, memo)
        _nil       = []
        cls        = <class 'dict'>
        copier     = <function _deepcopy_dict at 0xffbfb170cae0>
        d          = 281198424081280
        memo       = {281194745647168: GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, ..., relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}, 281194751129088: {}, ...}
        x          = {'_fixed_frames': (), '_fixed_joints': (), '_joint_position_limits': (), '_package_paths': (('dual_openyam_abc_box', <...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffbf2c62ca50>),), ...}
        y          = []
........................................../usr/lib/python3.12/copy.py:221: in _deepcopy_dict
    y[deepcopy(key, memo)] = deepcopy(value, memo)
        deepcopy   = <function deepcopy at 0xffbfb190e020>
        key        = '_source_path'
        memo       = {281194745647168: GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, ..., relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}, 281194751129088: {}, ...}
        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 0xffbf2c62ccd0>
        x          = {'_fixed_frames': (), '_fixed_joints': (), '_joint_position_limits': (), '_package_paths': (('dual_openyam_abc_box', <...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xffbf2c62ca50>),), ...}
        y          = {}
........................................../usr/lib/python3.12/copy.py:141: in deepcopy
    copier = getattr(x, "__deepcopy__", None)
        _nil       = []
        cls        = <class 'dimos.utils.data.LfsPath'>
        copier     = None
        d          = 281196548508880
        memo       = {281194745647168: GlobalConfig(robot_ip=None, robot_ips=None, unitree_aes_128_key=None, xarm7_ip=None, xarm6_ip=None, ..., relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}, 281194751129088: {}, ...}
        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 0xffbf2c62ccd0>
        y          = []
dimos/utils/data.py:370: 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 0xffbf2c62ccd0>
dimos/utils/data.py:353: 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 0xffbf2c62ccd0>
dimos/utils/data.py:310: 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:254: 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': '8e3d288c-f44d-443d-86e2-4726cfd4a386.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:224: 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:49: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../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 0xffbf9c2dc740>
        self       = <dimos.core.coordination.blueprint_config.parser.BlueprintConfigParser object at 0xffbf9d25fda0>
.../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 0xffbec19b95e0>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

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 0xffbec19b95e0>

    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 0xffbec19b95e0>

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

dimos.imitation.collection.test_blueprint::test_openyam_wrist_camera_device_is_configurable_from_cli[2-2]

Stack Traces | 3.21s run time

value = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xfffbda0dab70>

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

value      = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xfffbda0dab70>

.../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          = 281457160203120
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        reductor   = <built-in method __reduce_ex__ of TaskConfig object at 0xfffbda0dab70>
        rv         = (<function __newobj__ at 0xfffc5f9fc5e0>, (<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/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xfffbda0dab70>
        y          = []
........................................../usr/lib/python3.12/copy.py:259: in _reconstruct
    state = deepcopy(state, memo)
        args       = <generator object _reconstruct.<locals>.<genexpr> at 0xfffb6d5424d0>
        deep       = True
        deepcopy   = <function deepcopy at 0xfffc5f39e020>
        dictiter   = None
        func       = <function __newobj__ at 0xfffc5f9fc5e0>
        listiter   = None
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        state      = {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint...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/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xfffbda0dab70>
        y          = <[AttributeError("'TaskConfig' object has no attribute 'name'") raised in repr()] TaskConfig object at 0xfffb575116d0>
........................................../usr/lib/python3.12/copy.py:136: in deepcopy
    y = copier(x, memo)
        _nil       = []
        cls        = <class 'dict'>
        copier     = <function _deepcopy_dict at 0xfffc5f19cae0>
        d          = 281455334798144
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        x          = {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint...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 0xfffc5f39e020>
        key        = 'params'
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        value      = {'bindings': [{'hand': 'right', 'target_frame': 'gripper_tip'}], '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': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint...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': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint6'], 'name': 'teleop_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 0xfffc5f19cae0>
        d          = 281457161849152
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        x          = {'bindings': [{'hand': 'right', 'target_frame': 'gripper_tip'}], '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 0xfffc5f39e020>
        key        = 'robot_model'
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        value      = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModelConfig object at 0xfffbda039c20>
        x          = {'bindings': [{'hand': 'right', 'target_frame': 'gripper_tip'}], '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/yam_description.tar.gz after 3 attempt...scription.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] method object at 0xfffbccd2d2c0>
        d          = 281457159543840
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        x          = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModelConfig object at 0xfffbda039c20>
        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       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModelConfig object at 0xfffbda039c20>
........................................../usr/lib/python3.12/copy.py:136: in deepcopy
    y = copier(x, memo)
        _nil       = []
        cls        = <class 'dict'>
        copier     = <function _deepcopy_dict at 0xfffc5f19cae0>
        d          = 281457161422784
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        x          = {'auto_convert_meshes': True, 'base_link': '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 0xfffc5f39e020>
        key        = 'model'
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        value      = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModel object at 0xfffbda2cf050>
        x          = {'auto_convert_meshes': True, 'base_link': '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...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
........................................../usr/lib/python3.12/copy.py:162: in deepcopy
    y = _reconstruct(x, memo, *rv)
        _nil       = []
        cls        = <class 'dimos.robot.assets.model.RobotModel'>
        copier     = None
        d          = 281457162252368
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        reductor   = <built-in method __reduce_ex__ of RobotModel object at 0xfffbda2cf050>
        rv         = (<function __newobj__ at 0xfffc5f9fc5e0>, (<class 'dimos.robot.assets.model.RobotModel'>,), {'_fixed_frames': (), '_fi...xclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xfffbd9efbad0>),), ...}, None, None)
        x          = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModel object at 0xfffbda2cf050>
        y          = []
........................................../usr/lib/python3.12/copy.py:259: in _reconstruct
    state = deepcopy(state, memo)
        args       = <generator object _reconstruct.<locals>.<genexpr> at 0xfffbce1f9d50>
        deep       = True
        deepcopy   = <function deepcopy at 0xfffc5f39e020>
        dictiter   = None
        func       = <function __newobj__ at 0xfffc5f9fc5e0>
        listiter   = None
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        state      = {'_fixed_frames': (), '_fixed_joints': (), '_joint_position_limits': (), '_package_paths': (('yam_description', <[Runt...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xfffbd9efbad0>),), ...}
        x          = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModel object at 0xfffbda2cf050>
        y          = <[AttributeError("'RobotModel' object has no attribute '_source_path'") raised in repr()] RobotModel object at 0xfffb6d60f830>
........................................../usr/lib/python3.12/copy.py:136: in deepcopy
    y = copier(x, memo)
        _nil       = []
        cls        = <class 'dict'>
        copier     = <function _deepcopy_dict at 0xfffc5f19cae0>
        d          = 281455354019008
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        x          = {'_fixed_frames': (), '_fixed_joints': (), '_joint_position_limits': (), '_package_paths': (('yam_description', <[Runt...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xfffbd9efbad0>),), ...}
        y          = []
........................................../usr/lib/python3.12/copy.py:221: in _deepcopy_dict
    y[deepcopy(key, memo)] = deepcopy(value, memo)
        deepcopy   = <function deepcopy at 0xfffc5f39e020>
        key        = '_source_path'
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        value      = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...cription.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xfffbd9efb950>
        x          = {'_fixed_frames': (), '_fixed_joints': (), '_joint_position_limits': (), '_package_paths': (('yam_description', <[Runt...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xfffbd9efbad0>),), ...}
        y          = {}
........................................../usr/lib/python3.12/copy.py:141: in deepcopy
    copier = getattr(x, "__deepcopy__", None)
        _nil       = []
        cls        = <class 'dimos.utils.data.LfsPath'>
        copier     = None
        d          = 281457158240592
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        x          = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...cription.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xfffbd9efb950>
        y          = []
dimos/utils/data.py:370: in __getattribute__
    resolved = object.__getattribute__(self, "_ensure_downloaded")()
        name       = '__deepcopy__'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...cription.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xfffbd9efb950>
dimos/utils/data.py:353: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'yam_description/i2rt/yam.urdf'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...cription.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xfffbd9efb950>
dimos/utils/data.py:310: 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/i2rt/yam.urdf')
        name       = 'yam_description/i2rt/yam.urdf'
        nested_path = PosixPath('i2rt/yam.urdf')
        path_parts = ('yam_description', 'i2rt', 'yam.urdf')
dimos/utils/data.py:254: 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(
                    # --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/yam_description.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.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': '8e3d288c-f44d-443d-86e2-4726cfd4a386.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', '--exclude='])
relative_path = PosixPath('data/.lfs/yam_description.tar.gz')
repo_root  = PosixPath('.../work/dimos/dimos')
retries    = 2

dimos/utils/data.py:224: RuntimeError

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

argument = '2', expected = 2

    @pytest.mark.parametrize(
        ("argument", "expected"),
        [("2", 2), (".../v4l/by-id/usb-wrist-camera", ".../v4l/by-id/usb-wrist-camera")],
    )
    def test_openyam_wrist_camera_device_is_configurable_from_cli(
        argument: str, expected: int | str
    ) -> None:
>       parsed = BlueprintConfigParser(learning_collect_quest_openyam).parse(
            ["--WristCamera.webcam.camera-index", argument],
            environ={},
        )

argument   = '2'
expected   = 2

.../imitation/collection/test_blueprint.py:137: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../coordination/blueprint_config/parser.py:169: in parse
    key: plain(value)
        cli_tokens = ['--WristCamera.webcam.camera-index', '2']
        config_path = None
        environ    = {}
        global_overrides = None
        overrides  = None
        schema     = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...ion.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] ParserSchema object at 0xfffb6e6a9b80>
        self       = <dimos.core.coordination.blueprint_config.parser.BlueprintConfigParser object at 0xfffb6d60f260>
.../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/yam_description.tar.gz after 3 attemp...arm/joint6', 'arm/gripper'], 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/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xfffbda0dab70>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

value = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xfffbda0dab70>

    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/yam_description.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz', '--exclude=']' returned non-zero exit status 1.

value      = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xfffbda0dab70>

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

dimos.imitation.collection.test_blueprint::test_openyam_wrist_camera_device_is_configurable_from_cli[/dev/v4l/by-id/usb-wrist-camera-/dev/v4l/by-id/usb-wrist-camera]

Stack Traces | 3.31s run time

value = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xfffbda0dab70>

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

value      = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xfffbda0dab70>

.../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          = 281457160203120
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        reductor   = <built-in method __reduce_ex__ of TaskConfig object at 0xfffbda0dab70>
        rv         = (<function __newobj__ at 0xfffc5f9fc5e0>, (<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/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xfffbda0dab70>
        y          = []
........................................../usr/lib/python3.12/copy.py:259: in _reconstruct
    state = deepcopy(state, memo)
        args       = <generator object _reconstruct.<locals>.<genexpr> at 0xfffb575546d0>
        deep       = True
        deepcopy   = <function deepcopy at 0xfffc5f39e020>
        dictiter   = None
        func       = <function __newobj__ at 0xfffc5f9fc5e0>
        listiter   = None
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        state      = {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint...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/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xfffbda0dab70>
        y          = <[AttributeError("'TaskConfig' object has no attribute 'name'") raised in repr()] TaskConfig object at 0xfffb6d58ee40>
........................................../usr/lib/python3.12/copy.py:136: in deepcopy
    y = copier(x, memo)
        _nil       = []
        cls        = <class 'dict'>
        copier     = <function _deepcopy_dict at 0xfffc5f19cae0>
        d          = 281455334798144
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        x          = {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint...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 0xfffc5f39e020>
        key        = 'params'
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        value      = {'bindings': [{'hand': 'right', 'target_frame': 'gripper_tip'}], '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': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint...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': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/joint5', 'arm/joint6'], 'name': 'teleop_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 0xfffc5f19cae0>
        d          = 281457161849152
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        x          = {'bindings': [{'hand': 'right', 'target_frame': 'gripper_tip'}], '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 0xfffc5f39e020>
        key        = 'robot_model'
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        value      = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModelConfig object at 0xfffbda039c20>
        x          = {'bindings': [{'hand': 'right', 'target_frame': 'gripper_tip'}], '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/yam_description.tar.gz after 3 attempt...scription.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] method object at 0xfffbce64cc80>
        d          = 281457159543840
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        x          = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModelConfig object at 0xfffbda039c20>
        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       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModelConfig object at 0xfffbda039c20>
........................................../usr/lib/python3.12/copy.py:136: in deepcopy
    y = copier(x, memo)
        _nil       = []
        cls        = <class 'dict'>
        copier     = <function _deepcopy_dict at 0xfffc5f19cae0>
        d          = 281457161422784
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        x          = {'auto_convert_meshes': True, 'base_link': '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 0xfffc5f39e020>
        key        = 'model'
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        value      = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModel object at 0xfffbda2cf050>
        x          = {'auto_convert_meshes': True, 'base_link': '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...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
........................................../usr/lib/python3.12/copy.py:162: in deepcopy
    y = _reconstruct(x, memo, *rv)
        _nil       = []
        cls        = <class 'dimos.robot.assets.model.RobotModel'>
        copier     = None
        d          = 281457162252368
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        reductor   = <built-in method __reduce_ex__ of RobotModel object at 0xfffbda2cf050>
        rv         = (<function __newobj__ at 0xfffc5f9fc5e0>, (<class 'dimos.robot.assets.model.RobotModel'>,), {'_fixed_frames': (), '_fi...xclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xfffbd9efbad0>),), ...}, None, None)
        x          = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModel object at 0xfffbda2cf050>
        y          = []
........................................../usr/lib/python3.12/copy.py:259: in _reconstruct
    state = deepcopy(state, memo)
        args       = <generator object _reconstruct.<locals>.<genexpr> at 0xfffbce1fa020>
        deep       = True
        deepcopy   = <function deepcopy at 0xfffc5f39e020>
        dictiter   = None
        func       = <function __newobj__ at 0xfffc5f9fc5e0>
        listiter   = None
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        state      = {'_fixed_frames': (), '_fixed_joints': (), '_joint_position_limits': (), '_package_paths': (('yam_description', <[Runt...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xfffbd9efbad0>),), ...}
        x          = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] RobotModel object at 0xfffbda2cf050>
        y          = <[AttributeError("'RobotModel' object has no attribute '_source_path'") raised in repr()] RobotModel object at 0xfffb6d58db80>
........................................../usr/lib/python3.12/copy.py:136: in deepcopy
    y = copier(x, memo)
        _nil       = []
        cls        = <class 'dict'>
        copier     = <function _deepcopy_dict at 0xfffc5f19cae0>
        d          = 281456964599552
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        x          = {'_fixed_frames': (), '_fixed_joints': (), '_joint_position_limits': (), '_package_paths': (('yam_description', <[Runt...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xfffbd9efbad0>),), ...}
        y          = []
........................................../usr/lib/python3.12/copy.py:221: in _deepcopy_dict
    y[deepcopy(key, memo)] = deepcopy(value, memo)
        deepcopy   = <function deepcopy at 0xfffc5f39e020>
        key        = '_source_path'
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        value      = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...cription.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xfffbd9efb950>
        x          = {'_fixed_frames': (), '_fixed_joints': (), '_joint_position_limits': (), '_package_paths': (('yam_description', <[Runt...tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xfffbd9efbad0>),), ...}
        y          = {}
........................................../usr/lib/python3.12/copy.py:141: in deepcopy
    copier = getattr(x, "__deepcopy__", None)
        _nil       = []
        cls        = <class 'dimos.utils.data.LfsPath'>
        copier     = None
        d          = 281457158240592
        memo       = {281455334798144: {'auto_start': False, 'joint_names': ['arm/joint1', 'arm/joint2', 'arm/joint3', 'arm/joint4', 'arm/j...ess=True, local_relay=False, relay_url=None, dimos_cloud_url='https://login.dimensional.org', dimos_api_key=None), ...}
        x          = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...cription.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xfffbd9efb950>
        y          = []
dimos/utils/data.py:370: in __getattribute__
    resolved = object.__getattribute__(self, "_ensure_downloaded")()
        name       = '__deepcopy__'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...cription.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xfffbd9efb950>
dimos/utils/data.py:353: in _ensure_downloaded
    cache = get_data(filename)
        cache      = None
        filename   = 'yam_description/i2rt/yam.urdf'
        self       = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...cription.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xfffbd9efb950>
dimos/utils/data.py:310: 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/i2rt/yam.urdf')
        name       = 'yam_description/i2rt/yam.urdf'
        nested_path = PosixPath('i2rt/yam.urdf')
        path_parts = ('yam_description', 'i2rt', 'yam.urdf')
dimos/utils/data.py:254: 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(
                    # --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/yam_description.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.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': '8e3d288c-f44d-443d-86e2-4726cfd4a386.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', '--exclude='])
relative_path = PosixPath('data/.lfs/yam_description.tar.gz')
repo_root  = PosixPath('.../work/dimos/dimos')
retries    = 2

dimos/utils/data.py:224: RuntimeError

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

argument = '.../v4l/by-id/usb-wrist-camera'
expected = '.../v4l/by-id/usb-wrist-camera'

    @pytest.mark.parametrize(
        ("argument", "expected"),
        [("2", 2), (".../v4l/by-id/usb-wrist-camera", ".../v4l/by-id/usb-wrist-camera")],
    )
    def test_openyam_wrist_camera_device_is_configurable_from_cli(
        argument: str, expected: int | str
    ) -> None:
>       parsed = BlueprintConfigParser(learning_collect_quest_openyam).parse(
            ["--WristCamera.webcam.camera-index", argument],
            environ={},
        )

argument   = '.../v4l/by-id/usb-wrist-camera'
expected   = '.../v4l/by-id/usb-wrist-camera'

.../imitation/collection/test_blueprint.py:137: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../coordination/blueprint_config/parser.py:169: in parse
    key: plain(value)
        cli_tokens = ['--WristCamera.webcam.camera-index', '.../v4l/by-id/usb-wrist-camera']
        config_path = None
        environ    = {}
        global_overrides = None
        overrides  = None
        schema     = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...ion.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] ParserSchema object at 0xfffbce7458c0>
        self       = <dimos.core.coordination.blueprint_config.parser.BlueprintConfigParser object at 0xfffb6d500bf0>
.../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/yam_description.tar.gz after 3 attemp...arm/joint6', 'arm/gripper'], 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/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xfffbda0dab70>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

value = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xfffbda0dab70>

    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/yam_description.tar.gz after 3 attempts: Command '['git', 'lfs', 'pull', '--include', 'data/.lfs/yam_description.tar.gz', '--exclude=']' returned non-zero exit status 1.

value      = <[RuntimeError("Failed to pull LFS file .../dimos/data/.lfs/yam_description.tar.gz after 3 attempt...ption.tar.gz', '--exclude=']' returned non-zero exit status 1.") raised in repr()] TaskConfig object at 0xfffbda0dab70>

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

dimos.core.test_isolated_python_end_to_end::test_example_script_exits_after_printing_results

Stack Traces | 4.68s run time

def test_example_script_exits_after_printing_results() -> None:
        repository = Path(__file__).parents[2]
    
        result = subprocess.run(
            [sys.executable, "examples/external_python_module/run.py"],
            cwd=repository,
            capture_output=True,
            text=True,
            timeout=30,
        )
    
>       assert result.returncode == 0, result.stderr
E       AssertionError:   + Exception Group Traceback (most recent call last):
E           |   File ".../examples/external_python_module/run.py", line 38, in <module>
E           |     run_example()
E           |   File ".../examples/external_python_module/run.py", line 22, in run_example
E           |     coordinator = ModuleCoordinator.build(
E           |                   ^^^^^^^^^^^^^^^^^^^^^^^^
E           |   File ".../core/coordination/module_coordinator.py", line 371, in build
E           |     coordinator.build_all_modules()
E           |   File ".../core/coordination/module_coordinator.py", line 248, in build_all_modules
E           |     safe_thread_map(modules, lambda m: m.build())
E           |   File ".../dimos/utils/safe_thread_map.py", line 84, in safe_thread_map
E           |     raise ExceptionGroup("safe_thread_map failed", errors)
E           | ExceptionGroup: safe_thread_map failed (1 sub-exception)
E           +-+---------------- 1 ----------------
E             | dimos.protocol.rpc.rpc_utils.RemoteError: [Remote builtins.RuntimeError] Isolated Python environment preparation failed (exit 1): Resolved 195 packages in 47ms
E         error: The lockfile at `uv.lock` needs to be updated, but `--locked` was
E                provided.
E         
E         hint: To update the lockfile, run `uv lock`.
E         
E         Remote traceback:
E         Traceback (most recent call last):
E           File ".../protocol/rpc/pubsubrpc.py", line 280, in execute_and_respond
E             response = f(*args[0], **args[1])
E                        ^^^^^^^^^^^^^^^^^^^^^^
E           File ".../protocol/rpc/spec.py", line 116, in override_f
E             return getattr(module, fname)(*args, **kwargs)
E                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
E           File ".../dimos/core/isolated_python_module.py", line 265, in build
E             super().build()
E           File ".../dimos/core/native_module.py", line 236, in build
E             self._maybe_build()
E           File ".../dimos/core/isolated_python_module.py", line 261, in _maybe_build
E             self._run_prepare()
E           File ".../dimos/core/isolated_python_module.py", line 160, in _run_prepare
E             raise RuntimeError(
E         RuntimeError: Isolated Python environment preparation failed (exit 1): Resolved 195 packages in 47ms
E         error: The lockfile at `uv.lock` needs to be updated, but `--locked` was
E                provided.
E         
E         hint: To update the lockfile, run `uv lock`.
E         
E             | 
E             | The above exception was the direct cause of the following exception:
E             | 
E             | Traceback (most recent call last):
E             |   File ".../dimos/utils/safe_thread_map.py", line 68, in safe_thread_map
E             |     outcomes[idx] = fut.result()
E             |                     ^^^^^^^^^^^^
E             |   File ".............../usr/lib/python3.12........./concurrent/futures/_base.py", line 449, in result
E             |     return self.__get_result()
E             |            ^^^^^^^^^^^^^^^^^^^
E             |   File ".............../usr/lib/python3.12........./concurrent/futures/_base.py", line 401, in __get_result
E             |     raise self._exception
E             |   File ".............../usr/lib/python3.12....../concurrent/futures/thread.py", line 58, in run
E             |     result = self.fn(*self.args, **self.kwargs)
E             |              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
E             |   File ".../core/coordination/module_coordinator.py", line 248, in <lambda>
E             |     safe_thread_map(modules, lambda m: m.build())
E             |                                        ^^^^^^^^^
E             |   File ".../dimos/core/rpc_client.py", line 93, in __call__
E             |     result, unsub_fn = self._rpc.call_sync(
E             |                        ^^^^^^^^^^^^^^^^^^^^
E             |   File ".../protocol/rpc/spec.py", line 88, in call_sync
E             |     raise result
E             | RuntimeError: Isolated Python environment preparation failed (exit 1): Resolved 195 packages in 47ms
E         error: The lockfile at `uv.lock` needs to be updated, but `--locked` was
E                provided.
E         
E         hint: To update the lockfile, run `uv lock`.
E             +------------------------------------
E         
E       assert 1 == 0
E        +  where 1 = CompletedProcess(args=['.../dimos/dimos/.venv/bin/python', 'examples/external_python_module/run.py'], returncode=1, stdout='23:32:20.958 [inf][dination/module_coordinator.py] Building the blueprint\n23:32:20.960 [inf][ce/system_configurator/base.py] Pytest run detected: skipping system configuration.\n23:32:20.960 [inf][dination/module_coordinator.py] Starting the modules\n23:32:22.285 [inf][ation/worker_manager_python.py] Worker pool started. n_workers=2\n23:32:23.659 [inf][/coordination/python_worker.py] Deployed module. module=Offset module_id=1 worker_id=1\n23:32:23.716 [inf][/coordination/python_worker.py] Deployed module. module=ExampleExternal module_id=0 worker_id=0\n23:32:23.772 [inf][dination/module_coordinator.py] Transport module=exampleexternal name=value original_name=value topic=/value#std_msgs.Int32 transport=LCMTransport type=dimos.msgs.std_msgs.Int32.Int32\n23:32:23.775 [inf][dination/module_coordinator.py] Transport module=exampleexternal name=doubled original_name=doubled topic=/doubled#std_msgs.Int32 transport=LCMTransport type=dimos.msgs.std_msgs.Int32.Int32\n23:32:23.943 [err][.../protocol/rpc/pubsubrpc.py] Exception in RPC handler for Exampl...esult()\n    |            ^^^^^^^^^^^^^^^^^^^\n    |   File ".............../usr/lib/python3.12........./concurrent/futures/_base.py", line 401, in __get_result\n    |     raise self._exception\n    |   File ".............../usr/lib/python3.12....../concurrent/futures/thread.py", line 58, in run\n    |     result = self.fn(*self.args, **self.kwargs)\n    |              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n    |   File ".../core/coordination/module_coordinator.py", line 248, in <lambda>\n    |     safe_thread_map(modules, lambda m: m.build())\n    |                                        ^^^^^^^^^\n    |   File ".../dimos/core/rpc_client.py", line 93, in __call__\n    |     result, unsub_fn = self._rpc.call_sync(\n    |                        ^^^^^^^^^^^^^^^^^^^^\n    |   File ".../protocol/rpc/spec.py", line 88, in call_sync\n    |     raise result\n    | RuntimeError: Isolated Python environment preparation failed (exit 1): Resolved 195 packages in 47ms\nerror: The lockfile at `uv.lock` needs to be updated, but `--locked` was\n       provided.\n\nhint: To update the lockfile, run `uv lock`.\n    +------------------------------------\n').returncode

repository = PosixPath('.../work/dimos/dimos')
result     = CompletedProcess(args=['.../dimos/dimos/.venv/bin/python', 'examples/external_python_module/run.py'], re...d` was\n       provided.\n\nhint: To update the lockfile, run `uv lock`.\n    +------------------------------------\n')

dimos/core/test_isolated_python_end_to_end.py:98: AssertionError

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