diff --git a/data/.lfs/yam_description.tar.gz b/data/.lfs/yam_description.tar.gz
index 2ff8ba61d2..18464de268 100644
--- a/data/.lfs/yam_description.tar.gz
+++ b/data/.lfs/yam_description.tar.gz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:eb8c04381e29ceb1340e818bc706ba866d706c37a254d5637babc7168a5de850
-size 5759450
+oid sha256:db9a2160e414830eb1c2203b573ec7557563d3f963667c19752d7da7e3e940f1
+size 5388932
diff --git a/dimos/robot/manipulators/openyam/blueprints/teleop.py b/dimos/robot/manipulators/openyam/blueprints/teleop.py
index 2df9ee0508..7d4b12ed3a 100644
--- a/dimos/robot/manipulators/openyam/blueprints/teleop.py
+++ b/dimos/robot/manipulators/openyam/blueprints/teleop.py
@@ -52,7 +52,7 @@ def _eef_twist_task(*, priority: int = 10) -> TaskConfig:
         type="eef_twist",
         joint_names=list(OPENYAM_ARM_JOINTS),
         priority=priority,
-        params={"robot_model": _openyam_model, "target_frame": "yam_hand_tcp"},
+        params={"robot_model": _openyam_model, "target_frame": "gripper_tip"},
     )
 
 
@@ -107,7 +107,7 @@ def _gripper_task() -> TaskConfig:
     bindings=[
         {
             "hand": "right",
-            "target_frame": "yam_hand_tcp",
+            "target_frame": "gripper_tip",
         }
     ],
     params={
diff --git a/dimos/robot/manipulators/openyam/config.py b/dimos/robot/manipulators/openyam/config.py
index 1dbbd61b22..b1d8add730 100644
--- a/dimos/robot/manipulators/openyam/config.py
+++ b/dimos/robot/manipulators/openyam/config.py
@@ -37,7 +37,7 @@
 OPENYAM_GRIPPER_JOINT = "arm/gripper"
 OPENYAM_JOINTS = [*OPENYAM_ARM_JOINTS, OPENYAM_GRIPPER_JOINT]
 OPENYAM_PACKAGE = LfsPath("yam_description")
-OPENYAM_MODEL_PATH = OPENYAM_PACKAGE / "urdf/yam_gripper.urdf.xacro"
+OPENYAM_MODEL_PATH = OPENYAM_PACKAGE / "i2rt/yam.urdf"
 OPENYAM_PACKAGE_PATHS: dict[str, Path] = {"yam_description": OPENYAM_PACKAGE}
 
 
@@ -79,18 +79,22 @@ def make_openyam_model_config(
     *,
     home_joints: list[float] | None = None,
 ) -> RobotModelConfig:
-    """Build a planning config for the gripper-equipped OpenYAM."""
+    """Build the canonical visualization and planning config for OpenYAM."""
     model_joint_names = joint_names(OPENYAM_DOF, prefix="yam_joint")
+    model = RobotModel.from_file(
+        OPENYAM_MODEL_PATH,
+        package_paths=OPENYAM_PACKAGE_PATHS,
+    ).with_renamed_joints(dict(zip(joint_names(OPENYAM_DOF), model_joint_names, strict=True)))
     return RobotModelConfig(
-        model=RobotModel.from_file(OPENYAM_MODEL_PATH, package_paths=OPENYAM_PACKAGE_PATHS),
+        model=model,
         joint_names=model_joint_names,
-        base_link="yam_base_link",
+        base_link="base",
         planning_groups=[
             PlanningGroupDefinition(
                 name="manipulator",
                 joint_names=tuple(model_joint_names),
-                base_link="yam_base_link",
-                tip_link="yam_hand_tcp",
+                base_link="base",
+                tip_link="gripper_tip",
             )
         ],
         auto_convert_meshes=True,
diff --git a/dimos/robot/manipulators/openyam/test_openyam.py b/dimos/robot/manipulators/openyam/test_openyam.py
index 08616ee721..6845cd67be 100644
--- a/dimos/robot/manipulators/openyam/test_openyam.py
+++ b/dimos/robot/manipulators/openyam/test_openyam.py
@@ -36,6 +36,7 @@
     OPENYAM_GRIPPER_JOINT,
     OPENYAM_HARDWARE_ID,
     OPENYAM_JOINTS,
+    OPENYAM_MODEL_PATH,
     make_openyam_model_config,
     openyam_hardware,
 )
@@ -56,9 +57,11 @@ def _coordinator_kwargs(blueprint: Blueprint) -> dict[str, Any]:
 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")
+    assert config.model.source_path == OPENYAM_MODEL_PATH
     assert config.joint_names == OPENYAM_ARM_JOINTS
-    assert config.base_link == "yam_base_link"
-    assert config.planning_groups[0].tip_link == "yam_hand_tcp"
+    assert config.base_link == "base"
+    assert config.planning_groups[0].tip_link == "gripper_tip"
     assert config.gripper_hardware_id == "arm"
 
 
@@ -186,6 +189,6 @@ def test_quest_teleop_routes_pose_and_gripper_to_separate_tasks() -> None:
     teleop = next(task for task in tasks if task.type == "teleop_ik")
     gripper = next(task for task in tasks if task.type == "gripper")
 
-    assert teleop.params["bindings"] == [{"hand": "right", "target_frame": "yam_hand_tcp"}]
+    assert teleop.params["bindings"] == [{"hand": "right", "target_frame": "gripper_tip"}]
     assert gripper.joint_names == [OPENYAM_GRIPPER_JOINT]
     assert gripper.stream_bind == {"gripper_command": "right_gripper_command"}