fix(openyam): use canonical model description

[TomCC7]

Summary

• update yam_description to the corrected archive already published in fix(openyam): align learning stack with canonical model #3853
• load the canonical i2rt/yam.urdf model and map its joints to the OpenYAM hardware names
• target the canonical gripper_tip frame from keyboard and single-arm Quest teleoperation

This isolates the model-description correction needed to validate #3465 on macOS without pulling in the unrelated learning-stack changes from #3853.

Stack

• depends on feat(damiao): support native macOS CAN transport #3465
• model asset and canonical mapping extracted from fix(openyam): align learning stack with canonical model #3853

Validation

• 12 focused OpenYAM tests
• 1 self-hosted OpenYAM model-loading test
• corrected LFS object SHA-256 verified
• canonical model loaded directly from the corrected archive
• Ruff format and lint
• pre-commit hooks (the LFS data discovery hook was skipped because unrelated extracted assets are present in the shared worktree)

[TomCC7]

Closing this follow-up; the requested yam_description pointer update will be applied directly to #3465 instead.

[greptile-apps]

Greptile Summary

This change updates OpenYAM to use the canonical i2rt/yam.urdf model description, maps its arm joints to the hardware-facing names, and changes planning and teleoperation targets to base and gripper_tip.

No publishable defects were identified.

T-Rex validation blocked

The focused model-loading check reached make_openyam_model_config() but could not materialize the Git LFS model archive because the git-lfs executable is missing. The updated URDF therefore could not be parsed to confirm its joint names, base link, and gripper_tip frame. The focused pytest route also could not finish test setup because the python-dotenv package was unavailable.

Confidence Score: 5/5

No correctness or security finding requires changes before merge.

There are no final severity-bearing findings, so the required scoring table yields a score of 5. Confidence in the model asset itself is limited because the environment could not fetch the Git LFS archive for runtime URDF validation.

Files Needing Attention: No source file requires follow-up. The OpenYAM Git LFS model archive should be exercised in an environment with git-lfs available.

T-Rex Logs

What T-Rex did

• T-Rex ran the requested contract verification for the pull request.
• The verification concluded that local artifact references were not uploaded with the results.
• There are no uploaded artifacts available for review for this verification.

_{Ran code and verified through T-Rex}

_{Reviews (1): Last reviewed commit: "fix(openyam): use canonical model descri..." | Re-trigger Greptile}

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
4763	1	4762	181

View the top 1 failed test(s) by shortest run time

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

Stack Traces | 3.13s 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 0xff25d0eae8a0>

.../manipulators/openyam/test_openyam.py:60: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
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 0xff2562030fd0>
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 0xff2562030fd0>
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': 'ddfecba8-2026-42e8-9cd7-b93983c55a4f.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

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