feat(a1z): a1z learning workflow

[TomCC7]

Contribution path

• Stacked on the isolated LeRobot policy runtime in refactor(imitation): isolate LeRobot policy runtime #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 refactor(imitation): isolate LeRobot policy runtime #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]

❌ 6 Tests Failed:

Tests completed	Failed	Passed	Skipped
4729	6	4723	178

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

dimos.core.test_isolated_python_end_to_end::test_isolated_python_rpc_refs_and_restart

Stack Traces | 2.67s 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 377, in build
  |     coordinator.build_all_modules()
  |   File ".../core/coordination/module_coordinator.py", line 249, 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 796ms
    | 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/zenohrpc.py", line 199, in _execute_rpc
    |     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 211, 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 207, in _maybe_build
    |     self._run_prepare()
    |   File ".../dimos/core/isolated_python_module.py", line 127, 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 796ms
    | 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 249, 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 796ms
    | error: The lockfile at `uv.lock` needs to be updated, but `--locked` was
    |        provided.
    | 
    | hint: To update the lockfile, run `uv lock`.
    +------------------------------------

dimos.robot.manipulators.openyam.test_openyam::test_make_openyam_model_config_uses_canonical_arm_joints

Stack Traces | 3.17s run time

def test_make_openyam_model_config_uses_canonical_arm_joints() -> None:
        config = make_openyam_model_config()
    
>       assert OPENYAM_MODEL_PATH.parts[-2:] == ("i2rt", "yam.urdf")

config     = <[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 0xfffb7094ab20>

.../manipulators/openyam/test_openyam.py:63: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/utils/data.py:370: in __getattribute__
    resolved = object.__getattribute__(self, "_ensure_downloaded")()
        name       = 'parts'
        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 0xfffc5b972a50>
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 0xfffc5b972a50>
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': 'f7705bc4-8d02-4cf6-922f-bab902d0527a.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

dimos.robot.manipulators.openyam.blueprints.test_learning_rollout::test_rollout_requires_policy_path_from_cli

Stack Traces | 3.28s 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 0xff85316f2930>

    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 0xff85316f2930>

.../coordination/blueprint_config/values.py:113: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
........................................../usr/lib/python3.12/copy.py:162: in deepcopy
    y = _reconstruct(x, memo, *rv)
        _nil       = []
        cls        = <class 'dimos.control.coordinator.TaskConfig'>
        copier     = None
        d          = 280947525101872
        memo       = {280946582437056: {}, 280947271696960: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3',...True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.dimensional.org', dimos_api_key=None), ...}, ...}
        reductor   = <built-in method __reduce_ex__ of TaskConfig object at 0xff85316f2930>
        rv         = (<function __newobj__ at 0xff86244b05e0>, (<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 0xff85316f2930>
        y          = []
........................................../usr/lib/python3.12/copy.py:259: in _reconstruct
    state = deepcopy(state, memo)
        args       = <generator object _reconstruct.<locals>.<genexpr> at 0xff84f94ecd60>
        deep       = True
        deepcopy   = <function deepcopy at 0xff8623e72020>
        dictiter   = None
        func       = <function __newobj__ at 0xff86244b05e0>
        listiter   = None
        memo       = {280946582437056: {}, 280947271696960: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3',...True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.dimensional.org', dimos_api_key=None), ...}, ...}
        state      = {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_joint5', 'yam_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 0xff85316f2930>
        y          = <[AttributeError("'TaskConfig' object has no attribute 'name'") raised in repr()] TaskConfig object at 0xff8520a36840>
........................................../usr/lib/python3.12/copy.py:136: in deepcopy
    y = copier(x, memo)
        _nil       = []
        cls        = <class 'dict'>
        copier     = <function _deepcopy_dict at 0xff8623ca0ae0>
        d          = 280947271696960
        memo       = {280946582437056: {}, 280947271696960: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3',...True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.dimensional.org', dimos_api_key=None), ...}, ...}
        x          = {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_joint5', 'yam_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 0xff8623e72020>
        key        = 'params'
        memo       = {280946582437056: {}, 280947271696960: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3',...True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.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': ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_joint5', 'yam_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': ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_joint5', 'yam_joint6'], 'name': 'teleop_openyam', 'priority': 20, ...}
........................................../usr/lib/python3.12/copy.py:136: in deepcopy
    y = copier(x, memo)
        _nil       = []
        cls        = <class 'dict'>
        copier     = <function _deepcopy_dict at 0xff8623ca0ae0>
        d          = 280947511758336
        memo       = {280946582437056: {}, 280947271696960: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3',...True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.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 0xff8623e72020>
        key        = 'robot_model'
        memo       = {280946582437056: {}, 280947271696960: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3',...True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.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 0xff8530b55a90>
        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 0xff8521e3cbc0>
        d          = 280947512924816
        memo       = {280946582437056: {}, 280947271696960: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3',...True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.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 0xff8530b55a90>
        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       = {280946582437056: {}, 280947271696960: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3',...True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.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 0xff8530b55a90>
........................................../usr/lib/python3.12/copy.py:136: in deepcopy
    y = copier(x, memo)
        _nil       = []
        cls        = <class 'dict'>
        copier     = <function _deepcopy_dict at 0xff8623ca0ae0>
        d          = 280947511757056
        memo       = {280946582437056: {}, 280947271696960: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3',...True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.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 0xff8623e72020>
        key        = 'model'
        memo       = {280946582437056: {}, 280947271696960: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3',...True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.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 0xff85316f37a0>
        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...dless=True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.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          = 280947525105568
        memo       = {280946582437056: {}, 280947271696960: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3',...True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.dimensional.org', dimos_api_key=None), ...}, ...}
        reductor   = <built-in method __reduce_ex__ of RobotModel object at 0xff85316f37a0>
        rv         = (<function __newobj__ at 0xff86244b05e0>, (<class 'dimos.robot.assets.model.RobotModel'>,), {'_fixed_frames': (), '_fi...xclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xff859e7bded0>),), ...}, 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 0xff85316f37a0>
        y          = []
........................................../usr/lib/python3.12/copy.py:259: in _reconstruct
    state = deepcopy(state, memo)
        args       = <generator object _reconstruct.<locals>.<genexpr> at 0xff84f93967a0>
        deep       = True
        deepcopy   = <function deepcopy at 0xff8623e72020>
        dictiter   = None
        func       = <function __newobj__ at 0xff86244b05e0>
        listiter   = None
        memo       = {280946582437056: {}, 280947271696960: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3',...True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.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 0xff859e7bded0>),), ...}
        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 0xff85316f37a0>
        y          = <[AttributeError("'RobotModel' object has no attribute '_source_path'") raised in repr()] RobotModel object at 0xff8520c524e0>
........................................../usr/lib/python3.12/copy.py:136: in deepcopy
    y = copier(x, memo)
        _nil       = []
        cls        = <class 'dict'>
        copier     = <function _deepcopy_dict at 0xff8623ca0ae0>
        d          = 280946582437056
        memo       = {280946582437056: {}, 280947271696960: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3',...True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.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 0xff859e7bded0>),), ...}
        y          = []
........................................../usr/lib/python3.12/copy.py:221: in _deepcopy_dict
    y[deepcopy(key, memo)] = deepcopy(value, memo)
        deepcopy   = <function deepcopy at 0xff8623e72020>
        key        = '_source_path'
        memo       = {280946582437056: {}, 280947271696960: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3',...True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.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 0xff859e7bc0d0>
        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 0xff859e7bded0>),), ...}
        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          = 280949354643664
        memo       = {280946582437056: {}, 280947271696960: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3',...True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.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 0xff859e7bc0d0>
        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 0xff859e7bc0d0>
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 0xff859e7bc0d0>
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': 'f7705bc4-8d02-4cf6-922f-bab902d0527a.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_rollout_requires_policy_path_from_cli() -> None:
>       parsed = BlueprintConfigParser(learning_rollout_quest_openyam).parse(
            ["--LeRobotPolicyModule.policy-path", "outputs/checkpoint"],
            environ={},
        )


.../openyam/blueprints/test_learning_rollout.py:92: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../coordination/blueprint_config/parser.py:168: in parse
    key: plain(value)
        cli_tokens = ['--LeRobotPolicyModule.policy-path', 'outputs/checkpoint']
        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 0xff84faaa7bc0>
        self       = <dimos.core.coordination.blueprint_config.parser.BlueprintConfigParser object at 0xff8520a379b0>
.../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...params={'hold_duration': 0.1, 'requires_activation': True}, stream_bind={'gripper_command': 'policy_gripper_command'})]
.../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 0xff85316f2930>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

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 0xff85316f2930>

    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 0xff85316f2930>

.../coordination/blueprint_config/values.py:115: BlueprintConfigError

dimos.robot.manipulators.openyam.blueprints.test_learning_collection::test_native_openyam_paths_are_configurable_from_cli

Stack Traces | 3.39s 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 0xfffb7249c290>

    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 0xfffb7249c290>

.../coordination/blueprint_config/values.py:113: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
........................................../usr/lib/python3.12/copy.py:162: in deepcopy
    y = _reconstruct(x, memo, *rv)
        _nil       = []
        cls        = <class 'dimos.control.coordinator.TaskConfig'>
        copier     = None
        d          = 281455419310736
        memo       = {281454805184832: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_j...dless=True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.dimensional.org', dimos_api_key=None), ...}
        reductor   = <built-in method __reduce_ex__ of TaskConfig object at 0xfffb7249c290>
        rv         = (<function __newobj__ at 0xfffc6581c5e0>, (<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 0xfffb7249c290>
        y          = []
........................................../usr/lib/python3.12/copy.py:259: in _reconstruct
    state = deepcopy(state, memo)
        args       = <generator object _reconstruct.<locals>.<genexpr> at 0xfffb4dab3b50>
        deep       = True
        deepcopy   = <function deepcopy at 0xfffc651be020>
        dictiter   = None
        func       = <function __newobj__ at 0xfffc6581c5e0>
        listiter   = None
        memo       = {281454805184832: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_j...dless=True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.dimensional.org', dimos_api_key=None), ...}
        state      = {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_joint5', 'yam_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 0xfffb7249c290>
        y          = <[AttributeError("'TaskConfig' object has no attribute 'name'") raised in repr()] TaskConfig object at 0xfffb4df729f0>
........................................../usr/lib/python3.12/copy.py:136: in deepcopy
    y = copier(x, memo)
        _nil       = []
        cls        = <class 'dict'>
        copier     = <function _deepcopy_dict at 0xfffc64fbcae0>
        d          = 281454805184832
        memo       = {281454805184832: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_j...dless=True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.dimensional.org', dimos_api_key=None), ...}
        x          = {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_joint5', 'yam_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 0xfffc651be020>
        key        = 'params'
        memo       = {281454805184832: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_j...dless=True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.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': ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_joint5', 'yam_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': ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_joint5', 'yam_joint6'], 'name': 'teleop_openyam', 'priority': 20, ...}
........................................../usr/lib/python3.12/copy.py:136: in deepcopy
    y = copier(x, memo)
        _nil       = []
        cls        = <class 'dict'>
        copier     = <function _deepcopy_dict at 0xfffc64fbcae0>
        d          = 281455430180864
        memo       = {281454805184832: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_j...dless=True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.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 0xfffc651be020>
        key        = 'robot_model'
        memo       = {281454805184832: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_j...dless=True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.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 0xfffb724930c0>
        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 0xfffb4dabd400>
        d          = 281455419273408
        memo       = {281454805184832: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_j...dless=True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.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 0xfffb724930c0>
        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       = {281454805184832: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_j...dless=True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.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 0xfffb724930c0>
........................................../usr/lib/python3.12/copy.py:136: in deepcopy
    y = copier(x, memo)
        _nil       = []
        cls        = <class 'dict'>
        copier     = <function _deepcopy_dict at 0xfffc64fbcae0>
        d          = 281455430188352
        memo       = {281454805184832: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_j...dless=True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.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 0xfffc651be020>
        key        = 'model'
        memo       = {281454805184832: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_j...dless=True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.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 0xfffb7249ce60>
        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...dless=True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.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          = 281455419313760
        memo       = {281454805184832: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_j...dless=True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.dimensional.org', dimos_api_key=None), ...}
        reductor   = <built-in method __reduce_ex__ of RobotModel object at 0xfffb7249ce60>
        rv         = (<function __newobj__ at 0xfffc6581c5e0>, (<class 'dimos.robot.assets.model.RobotModel'>,), {'_fixed_frames': (), '_fi...xclude=']' returned non-zero exit status 1.") raised in repr()] LfsPath object at 0xfffc5b9729d0>),), ...}, 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 0xfffb7249ce60>
        y          = []
........................................../usr/lib/python3.12/copy.py:259: in _reconstruct
    state = deepcopy(state, memo)
        args       = <generator object _reconstruct.<locals>.<genexpr> at 0xfffb4dab3a60>
        deep       = True
        deepcopy   = <function deepcopy at 0xfffc651be020>
        dictiter   = None
        func       = <function __newobj__ at 0xfffc6581c5e0>
        listiter   = None
        memo       = {281454805184832: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_j...dless=True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.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 0xfffc5b9729d0>),), ...}
        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 0xfffb7249ce60>
        y          = <[AttributeError("'RobotModel' object has no attribute '_source_path'") raised in repr()] RobotModel object at 0xfffb72cc3770>
........................................../usr/lib/python3.12/copy.py:136: in deepcopy
    y = copier(x, memo)
        _nil       = []
        cls        = <class 'dict'>
        copier     = <function _deepcopy_dict at 0xfffc64fbcae0>
        d          = 281454810698944
        memo       = {281454805184832: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_j...dless=True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.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 0xfffc5b9729d0>),), ...}
        y          = []
........................................../usr/lib/python3.12/copy.py:221: in _deepcopy_dict
    y[deepcopy(key, memo)] = deepcopy(value, memo)
        deepcopy   = <function deepcopy at 0xfffc651be020>
        key        = '_source_path'
        memo       = {281454805184832: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_j...dless=True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.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 0xfffc5b972a50>
        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 0xfffc5b9729d0>),), ...}
        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          = 281459333474896
        memo       = {281454805184832: {'auto_start': False, 'joint_names': ['yam_joint1', 'yam_joint2', 'yam_joint3', 'yam_joint4', 'yam_j...dless=True, local_relay=False, relay_url=None, dimos_cloud_url='https://api.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 0xfffc5b972a50>
        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 0xfffc5b972a50>
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 0xfffc5b972a50>
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': 'f7705bc4-8d02-4cf6-922f-bab902d0527a.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_native_openyam_paths_are_configurable_from_cli() -> None:
>       parsed = BlueprintConfigParser(learning_collect_quest_openyam).parse(
            [
                "--nativecollectionrecorder.store.path",
                "/tmp/native-openyam.mcap",
                "--WristCamera.webcam.camera-index",
                ".../v4l/by-id/usb-wrist-camera",
                "--task",
                "pick up the red block",
            ],
            environ={},
        )


.../openyam/blueprints/test_learning_collection.py:51: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.../coordination/blueprint_config/parser.py:168: in parse
    key: plain(value)
        cli_tokens = ['--nativecollectionrecorder.store.path', '/tmp/native-openyam.mcap', '--WristCamera.webcam.camera-index', '.../v4l/by-id/usb-wrist-camera', '--task', 'pick up the red block']
        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 0xfffb4dadd880>
        self       = <dimos.core.coordination.blueprint_config.parser.BlueprintConfigParser object at 0xfffb4e01b5f0>
.../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...yam_joint6', 'arm/gripper'], priority=30, 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 0xfffb7249c290>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

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 0xfffb7249c290>

    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 0xfffb7249c290>

.../coordination/blueprint_config/values.py:115: BlueprintConfigError

dimos.core.test_isolated_python_end_to_end::test_example_script_exits_after_printing_results

Stack Traces | 4.51s 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 377, in build
E           |     coordinator.build_all_modules()
E           |   File ".../core/coordination/module_coordinator.py", line 249, 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 51ms
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/zenohrpc.py", line 199, in _execute_rpc
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 211, 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 207, in _maybe_build
E             self._run_prepare()
E           File ".../dimos/core/isolated_python_module.py", line 127, in _run_prepare
E             raise RuntimeError(
E         RuntimeError: Isolated Python environment preparation failed (exit 1): Resolved 195 packages in 51ms
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 249, 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 51ms
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="05:22:49.606 [inf][dination/module_coordinator.py] Building the blueprint\n05:22:49.608 [inf][ce/system_configurator/base.py] Pytest run detected: skipping system configuration.\n05:22:49.608 [inf][dination/module_coordinator.py] Starting the modules\n05:22:50.941 [inf][ation/worker_manager_python.py] Worker pool started. n_workers=2\n05:22:52.317 [inf][otocol/service/zenohservice.py] Zenoh session opened connect=[] gossip=True listen=['tcp/127.0.0.1:0'] mode=peer multicast_interface=lo\n05:22:52.323 [inf][/coordination/python_worker.py] Deployed module. module=ExampleExternal module_id=0 worker_id=0\n05:22:52.326 [inf][otocol/service/zenohservice.py] Zenoh session opened connect=[] gossip=True listen=['tcp/127.0.0.1:0'] mode=peer multicast_interface=lo\n05:22:52.328 [inf][otocol/service/zenohservice.py] Zenoh session opened connect=[] gossip=True listen=['tcp/127.0.0.1:0'] mode=peer multicast_interface=lo\n05:22:52.332 [inf][/coordination/python_worker.py] Deployed module. module=Offset module_id=1 worker_id=1\n05:22:52.453 [err][dimos/protoco...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 249, 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 51ms\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

dimos.codebase_checks.test_import_from_source::test_import_from_source

Stack Traces | 9.11s run time

def test_import_from_source() -> None:
        """Fail if any name is imported from a module that only re-imported it."""
        violations = find_reexport_imports()
        if violations:
            listing = "\n".join(
                f"  - {p.relative_to(DIMOS_PROJECT_ROOT)}:{line}: `{name}` imported from "
                f"{src}, but defined in {origin}"
                for p, line, name, src, origin in sorted(violations)
            )
>           raise AssertionError(
                f"Found import(s) that pull a name from a re-exporter:\n{listing}\n\n"
                "Import each name straight from the module that defines it (shown above). "
                "If a module re-exports a name on purpose, mark its import with "
                "`# noqa: F401` or the `from x import Y as Y` form, and that re-export "
                "will be allowed."
            )
E           AssertionError: Found import(s) that pull a name from a re-exporter:
E             - .../manipulators/a1z/test_teach_replay.py:27: `EpisodeStatus` imported from dimos.imitation.collection.episode_monitor, but defined in dimos.msgs.imitation_msgs.EpisodeStatus
E           
E           Import each name straight from the module that defines it (shown above). If a module re-exports a name on purpose, mark its import with `# noqa: F401` or the `from x import Y as Y` form, and that re-export will be allowed.

listing    = '  - .../manipulators/a1z/test_teach_replay.py:27: `EpisodeStatus` imported from dimos.imitation.collection.episode_monitor, but defined in dimos.msgs.imitation_msgs.EpisodeStatus'
violations = [(PosixPath('/home/runner/work/dimos/dimos/.../manipulators/a1z/test_teach_replay.py'), 27, 'EpisodeStatus', 'dimos.imitation.collection.episode_monitor', 'dimos.msgs.imitation_msgs.EpisodeStatus')]

dimos/codebase_checks/test_import_from_source.py:149: AssertionError

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