Of course not. You proved that the starter relay works, and that its coil- is already grounded. The key in "crank" applies +12 V to the yellow wire (rel. to BATT-). Measure that is happening. I doubt it since when you apply +12 V w/ a jumper the relay engages. If the yellow wire stays dead, start tracing it from the key thru the firewall to the starter relay to see where you don't get +12 V in "crank".