Add files using upload-large-folder tool

eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/async_events.jsonl

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eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/manifests/action.json

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eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/manifests/camera.json

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eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/manifests/event.json

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eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/camera/metadata.json

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eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/async_events.jsonl

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+{"event": "prediction_requested", "time_ns": 1789911330952752185, "actions_sent": 333, "prediction": 20, "queue_remaining": 12}
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+{"event": "prediction_requested", "time_ns": 1789911331539707356, "actions_sent": 350, "prediction": 21, "queue_remaining": 12}
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+{"event": "prediction_requested", "time_ns": 1789911332082851306, "actions_sent": 366, "prediction": 22, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789911332184493640, "actions_sent": 369, "prediction": 22, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 122.72964700241573, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1789911332656684264, "actions_sent": 383, "prediction": 23, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789911332766000352, "actions_sent": 386, "prediction": 23, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 133.23176800622605, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1789911333237149753, "actions_sent": 400, "prediction": 24, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789911333345514208, "actions_sent": 403, "prediction": 24, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 150.4710479930509, "blended_steps": 5}
+{"event": "operator_stopped", "time_ns": 1789911333395284653, "actions_sent": 405, "result": "failure"}

eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/manifests/action.json

@@ -0,0 +1,28 @@
+{
+  "prometheus_action_recorder": {
+    "counts": {
+      "action.executed": 405,
+      "camera.base_0_rgb": 424,
+      "camera.left_wrist_0_rgb": 424,
+      "camera.right_wrist_0_rgb": 425,
+      "dropped": 0,
+      "event.workflow": 1,
+      "items": 3376,
+      "robot.robot_state": 1697
+    },
+    "episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0010",
+    "executed_actions": 405,
+    "failure": "",
+    "metadata": {
+      "round_number": 10,
+      "run_id": "20260920_213348_139885_round_0010",
+      "workflow": "openpi_rollout"
+    },
+    "policy_action_chunks": 0,
+    "record_id": "prometheus_action_recorder",
+    "record_mode": "action",
+    "schema": "prometheus_raw_episode_v1",
+    "status": "saved",
+    "updated_at_unix": 1789911333.5071537
+  }
+}

eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/manifests/camera.json

@@ -0,0 +1,101 @@
+{
+  "prometheus_camera_base_0_recorder": {
+    "camera_frames": {
+      "base_0_rgb": 424
+    },
+    "camera_timestamp_samples": 424,
+    "complete_sensor_bundles": 424,
+    "counts": {
+      "action.executed": 405,
+      "camera.base_0_rgb": 424,
+      "camera.left_wrist_0_rgb": 424,
+      "camera.right_wrist_0_rgb": 425,
+      "dropped": 0,
+      "event.workflow": 1,
+      "items": 3376,
+      "robot.robot_state": 1697
+    },
+    "dropped_incomplete_sensor_bundles": 0,
+    "duplicate_sensor_messages": 0,
+    "episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0010",
+    "failure": "",
+    "metadata": {
+      "round_number": 10,
+      "run_id": "20260920_213348_139885_round_0010",
+      "workflow": "openpi_rollout"
+    },
+    "record_id": "prometheus_camera_base_0_recorder",
+    "record_mode": "sensor",
+    "schema": "prometheus_raw_episode_v1",
+    "sensor_kind": "camera",
+    "sensor_name": "base_0",
+    "status": "saved",
+    "updated_at_unix": 1789911333.5071537
+  },
+  "prometheus_camera_left_wrist_0_recorder": {
+    "camera_frames": {
+      "left_wrist_0_rgb": 424
+    },
+    "camera_timestamp_samples": 424,
+    "complete_sensor_bundles": 424,
+    "counts": {
+      "action.executed": 405,
+      "camera.base_0_rgb": 424,
+      "camera.left_wrist_0_rgb": 424,
+      "camera.right_wrist_0_rgb": 425,
+      "dropped": 0,
+      "event.workflow": 1,
+      "items": 3376,
+      "robot.robot_state": 1697
+    },
+    "dropped_incomplete_sensor_bundles": 0,
+    "duplicate_sensor_messages": 0,
+    "episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0010",
+    "failure": "",
+    "metadata": {
+      "round_number": 10,
+      "run_id": "20260920_213348_139885_round_0010",
+      "workflow": "openpi_rollout"
+    },
+    "record_id": "prometheus_camera_left_wrist_0_recorder",
+    "record_mode": "sensor",
+    "schema": "prometheus_raw_episode_v1",
+    "sensor_kind": "camera",
+    "sensor_name": "left_wrist_0",
+    "status": "saved",
+    "updated_at_unix": 1789911333.5071537
+  },
+  "prometheus_camera_right_wrist_0_recorder": {
+    "camera_frames": {
+      "right_wrist_0_rgb": 425
+    },
+    "camera_timestamp_samples": 425,
+    "complete_sensor_bundles": 425,
+    "counts": {
+      "action.executed": 405,
+      "camera.base_0_rgb": 424,
+      "camera.left_wrist_0_rgb": 424,
+      "camera.right_wrist_0_rgb": 425,
+      "dropped": 0,
+      "event.workflow": 1,
+      "items": 3376,
+      "robot.robot_state": 1697
+    },
+    "dropped_incomplete_sensor_bundles": 0,
+    "duplicate_sensor_messages": 0,
+    "episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0010",
+    "failure": "",
+    "metadata": {
+      "round_number": 10,
+      "run_id": "20260920_213348_139885_round_0010",
+      "workflow": "openpi_rollout"
+    },
+    "record_id": "prometheus_camera_right_wrist_0_recorder",
+    "record_mode": "sensor",
+    "schema": "prometheus_raw_episode_v1",
+    "sensor_kind": "camera",
+    "sensor_name": "right_wrist_0",
+    "status": "saved",
+    "updated_at_unix": 1789911333.5071537
+  }
+}

eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/manifests/event.json

@@ -0,0 +1,27 @@
+{
+  "prometheus_event_recorder": {
+    "counts": {
+      "action.executed": 405,
+      "camera.base_0_rgb": 424,
+      "camera.left_wrist_0_rgb": 424,
+      "camera.right_wrist_0_rgb": 425,
+      "dropped": 0,
+      "event.workflow": 1,
+      "items": 3376,
+      "robot.robot_state": 1697
+    },
+    "episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0010",
+    "event_samples": 1,
+    "failure": "",
+    "metadata": {
+      "round_number": 10,
+      "run_id": "20260920_213348_139885_round_0010",
+      "workflow": "openpi_rollout"
+    },
+    "record_id": "prometheus_event_recorder",
+    "record_mode": "event",
+    "schema": "prometheus_raw_episode_v1",
+    "status": "saved",
+    "updated_at_unix": 1789911333.5071537
+  }
+}

eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/manifests/robot.json

@@ -0,0 +1,36 @@
+{
+  "prometheus_robot_recorder": {
+    "counts": {
+      "action.executed": 405,
+      "camera.base_0_rgb": 424,
+      "camera.left_wrist_0_rgb": 424,
+      "camera.right_wrist_0_rgb": 425,
+      "dropped": 0,
+      "event.workflow": 1,
+      "items": 3376,
+      "robot.robot_state": 1697
+    },
+    "episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0010",
+    "failure": "",
+    "incomplete_robot_samples": {
+      "left": 1697,
+      "right": 1697
+    },
+    "metadata": {
+      "round_number": 10,
+      "run_id": "20260920_213348_139885_round_0010",
+      "workflow": "openpi_rollout"
+    },
+    "pending_robot_samples": 0,
+    "plot_outputs": [],
+    "record_id": "prometheus_robot_recorder",
+    "record_mode": "robot",
+    "robot_samples": {
+      "left": 1697,
+      "right": 1697
+    },
+    "schema": "prometheus_raw_episode_v1",
+    "status": "saved",
+    "updated_at_unix": 1789911333.5071537
+  }
+}

eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/manifests/tactile.json

@@ -0,0 +1 @@
+{}

eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/metadata/hydra/.hydra/config.yaml

@@ -0,0 +1,238 @@
+ros:
+  localhost_only: true
+run:
+  id: ${now:%Y%m%d_%H%M%S_%f}
+  output_dir: outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate
+  steps: 40
+  wait_ready_timeout_s: 30.0
+  runtime_dir: ${run.output_dir}/metadata/runtime
+  action_steps: 30
+policy:
+  host: 127.0.0.1
+  port: 8000
+  prompt: Use the right arm to pick up the pomegranate and place it in the bowl.
+  action_hz: 30.0
+  slop_ms: 20.0
+  observation_wait_timeout_s: 1.0
+  max_observation_age_s: 0.5
+  connect_timeout_s: 10.0
+  response_timeout_s: 120.0
+data:
+  history: 64
+  bridge:
+    enabled: true
+    name: openpi_observe_${run.id}
+    wait_all_streams: true
+    qos_depth: 10
+    stamp_source: header
+    sensor_qos: reliable
+  streams:
+    robot_state:
+      topic: /prometheus/robots/yam/state
+      msg_type: sensor_msgs.msg.JointState
+      domain: robot
+      ros_domain_id: 21
+    base_0_color:
+      topic: /prometheus/sensors/cameras/base_0/color/image_raw
+      msg_type: sensor_msgs.msg.Image
+      domain: sensor
+      ros_domain_id: 22
+    left_wrist_0_color:
+      topic: /prometheus/sensors/cameras/left_wrist_0/color/image_raw
+      msg_type: sensor_msgs.msg.Image
+      domain: sensor
+      ros_domain_id: 22
+    right_wrist_0_color:
+      topic: /prometheus/sensors/cameras/right_wrist_0/color/image_raw
+      msg_type: sensor_msgs.msg.Image
+      domain: sensor
+      ros_domain_id: 22
+  name: openpi_data
+  mode: owned
+  numpy:
+    enabled: true
+  recording:
+    enabled: true
+    output_dir: ${run.output_dir}/data
+    queue_size: 4096
+    fps: 30.0
+    camera_encoder: libx264
+    default_event_value: null
+    enable_plots: false
+robot:
+  _target_: prometheus.nodes.robots.yam.resolve_robot
+  id: yam
+  control_domain_id: 21
+  sensor_domain_id: 22
+  collection_input_source: pedal,tty
+  collection_pedal:
+    devices:
+    - /dev/input/prometheus-pedal
+    - /dev/input/prometheus-pedal-aux
+    exclusive: true
+    confirm_presses: 2
+    confirm_window_s: 1.0
+    debounce_s: 0.05
+    pedal_map:
+      30: 0
+      48: 1
+      46: 2
+      32: 3
+      2: 0
+      3: 1
+      4: 2
+      5: 3
+  robot:
+    state_publish_hz: 120
+    control_hz: 120
+    action_space: abs_qpos
+    leader_arm: yam
+    follower_arm: yam_ultra
+    leader_gripper: yam_teaching_handle
+    follower_gripper: linear_4310
+    gripper_width_m: 0.096
+    alignment_duration_s: 3.0
+    bilateral_kp: 0.0
+    teleoperation_enabled: false
+    require_enable_button: false
+    enable_auto_recovery: false
+    sim: false
+    home_return:
+      enabled: false
+      max_velocity: 0.3
+      min_duration_s: 3.0
+      timeout_s: 25.0
+      kp_scale: 1.0
+      position_tolerance: 0.05
+      velocity_tolerance: 0.1
+      settle_s: 0.3
+      tracking_error_limit: 0.35
+      feedback_timeout_s: 0.5
+    leader_can: null
+    follower_can:
+      left: can_follower_l
+      right: can_follower_r
+    collection_mode: policy
+    policy_control:
+      urdf: ${oc.env:HOME}/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf
+      stop_file: /tmp/prometheus_openpi/STOP
+      hz: 30.0
+      feedback_timeout_s: 0.2
+      command_timeout_s: 0.25
+      velocity_limits:
+      - 6.503956017494202
+      - 7.554651925563812
+      - 9.670842275619506
+      - 10.588351378440857
+      - 8.72373610496521
+      - 13.252087483406067
+      - 1.2993822544813156
+      - 8.664541969299316
+      - 10.73633671760559
+      - 14.77633719921112
+      - 17.380879168510436
+      - 20.799341225624083
+      - 7.747032866477967
+      - 1.3316887146234513
+      stationary_velocity_limits:
+      - 0.09619047798216343
+      - 0.09619047798216343
+      - 0.09125763334333897
+      - 0.09619047798216343
+      - 0.11098901189863682
+      - 0.18498168900609016
+      - 0.014679903751239181
+      - 0.10112332262098789
+      - 0.11098901189863682
+      - 0.10112332262098789
+      - 0.11098901189863682
+      - 0.14058608725667
+      - 0.2885714414715767
+      - 0.014345181323587895
+      command_velocity_limits:
+      - 7.326937734087213
+      - 7.492612143357643
+      - 9.039960411055707
+      - 10.989442599937178
+      - 11.822247140410347
+      - 21.729793477053846
+      - 4.549583926449072
+      - 9.542591565847905
+      - 16.49783855493206
+      - 19.18122166486826
+      - 20.271305218109156
+      - 13.274309575261345
+      - 14.009155302643812
+      - 4.764187300355128
+      acceleration_limits:
+      - 118.7426430016755
+      - 165.012131490699
+      - 134.04180689399348
+      - 274.86399842805685
+      - 195.25766555964873
+      - 454.5340796113012
+      - 109.40927818565227
+      - 178.49339036295515
+      - 476.6444930964641
+      - 557.9080874526715
+      - 587.1810202100611
+      - 362.1711802492357
+      - 208.8803265352197
+      - 208.9010343469399
+      tracking_error_limits:
+      - 0.20073625504970552
+      - 0.309388148188591
+      - 0.29782940477132797
+      - 0.22655070275068284
+      - 0.5001068050414323
+      - 0.7771305423974991
+      - 0.06952205713838339
+      - 0.268162048868835
+      - 0.3556229412555695
+      - 0.4542571985721588
+      - 0.3109293460845947
+      - 1.0653276860713958
+      - 0.45733958966098726
+      - 0.07211417473852634
+  cameras:
+    capture_hz: 30
+    capture_width: 640
+    capture_height: 480
+    publish_hz: 30
+    collect_ir: false
+    ir: false
+    prepub_resize: 1.0
+    camera_info: false
+    serial_no:
+      base_0: '260322272085'
+      left_wrist_0: '260422275825'
+      right_wrist_0: '260322279382'
+    qos: reliable
+execute: true
+async_inference:
+  enabled: true
+  prefetch_steps: 12
+  blend_steps: 5
+execution:
+  hold_settle_s: 0.2
+  hold_settle_timeout_s: 5.0
+  max_prediction_age_s: 0.5
+  max_schedule_lateness_s: 0.105
+  command_ack_timeout_s: 0.1
+hardware:
+  name: openpi_hardware
+  mode: owned
+  sensors: auto
+  streams: auto
+preview:
+  enabled: true
+  mode: local
+  ui_mode: openpi
+  window: Pi0.5 - Async execution
+  width: 1280
+  height: 720
+  fps: 20.0
+  stale_timeout_s: 1.0
+  host: 127.0.0.1
+  port: 7860
+  refresh_ms: 100

eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/metadata/hydra/.hydra/hydra.yaml

@@ -0,0 +1,164 @@
+hydra:
+  run:
+    dir: ${run.output_dir}/metadata/hydra
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - execute=true
+    - policy.host=127.0.0.1
+    - policy.port=8000
+    - run.steps=40
+    - run.action_steps=30
+    - policy.prompt="Use the right arm to pick up the pomegranate and place it in
+      the bowl."
+    - run.output_dir=outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate
+  job:
+    name: openpi_rollout
+    chdir: false
+    override_dirname: execute=true,policy.host=127.0.0.1,policy.port=8000,policy.prompt="Use
+      the right arm to pick up the pomegranate and place it in the bowl.",run.action_steps=30,run.output_dir=outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate,run.steps=40
+    id: ???
+    num: ???
+    config_name: openpi_pi0_v2_v3_20eps_20000
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.6
+    version_base: '1.3'
+    cwd: /home/romoya-1/openpi-workspace/PrometheusV2
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /home/romoya-1/openpi-workspace/PrometheusV2/prometheus/configs
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /home/romoya-1/openpi-workspace/PrometheusV2/outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/metadata/hydra
+    choices:
+      robot: yam_policy
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/metadata/hydra/.hydra/overrides.yaml

@@ -0,0 +1,8 @@
+- execute=true
+- policy.host=127.0.0.1
+- policy.port=8000
+- run.steps=40
+- run.action_steps=30
+- policy.prompt="Use the right arm to pick up the pomegranate and place it in the
+  bowl."
+- run.output_dir=outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate

eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/camera/metadata.json

@@ -0,0 +1,59 @@
+{
+  "base_0_rgb": {
+    "codec": "h264",
+    "container": "mp4",
+    "encoder": "libx264",
+    "encoding": "bgr8",
+    "frames": 522,
+    "height": 480,
+    "lossless": false,
+    "pixel_format": "yuv420p",
+    "quality": {
+      "mode": "crf",
+      "value": 14
+    },
+    "timestamp_policy": "shared_by_complete_physical_camera_bundle",
+    "timestamps": "camera/timestamp.pkl::base_0",
+    "topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
+    "video": "camera/base_0_rgb.mp4",
+    "width": 640
+  },
+  "left_wrist_0_rgb": {
+    "codec": "h264",
+    "container": "mp4",
+    "encoder": "libx264",
+    "encoding": "bgr8",
+    "frames": 524,
+    "height": 480,
+    "lossless": false,
+    "pixel_format": "yuv420p",
+    "quality": {
+      "mode": "crf",
+      "value": 14
+    },
+    "timestamp_policy": "shared_by_complete_physical_camera_bundle",
+    "timestamps": "camera/timestamp.pkl::left_wrist_0",
+    "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
+    "video": "camera/left_wrist_0_rgb.mp4",
+    "width": 640
+  },
+  "right_wrist_0_rgb": {
+    "codec": "h264",
+    "container": "mp4",
+    "encoder": "libx264",
+    "encoding": "bgr8",
+    "frames": 525,
+    "height": 480,
+    "lossless": false,
+    "pixel_format": "yuv420p",
+    "quality": {
+      "mode": "crf",
+      "value": 14
+    },
+    "timestamp_policy": "shared_by_complete_physical_camera_bundle",
+    "timestamps": "camera/timestamp.pkl::right_wrist_0",
+    "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
+    "video": "camera/right_wrist_0_rgb.mp4",
+    "width": 640
+  }
+}

eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/debug/async_events.jsonl

@@ -0,0 +1,61 @@
+{"event": "prediction_requested", "time_ns": 1789902626278225283, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
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eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/manifests/action.json

@@ -0,0 +1,29 @@
+{
+  "prometheus_action_recorder": {
+    "counts": {
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+      "camera.base_0_rgb": 522,
+      "camera.left_wrist_0_rgb": 524,
+      "camera.right_wrist_0_rgb": 525,
+      "dropped": 0,
+      "event.workflow": 1,
+      "items": 4272,
+      "robot.robot_state": 2202
+    },
+    "episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/put_baozi/data/round_0004",
+    "executed_actions": 498,
+    "failure": "",
+    "metadata": {
+      "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
+      "round_number": 4,
+      "run_id": "20260920_191018_985476_round_0004",
+      "workflow": "openpi_rollout"
+    },
+    "policy_action_chunks": 0,
+    "record_id": "prometheus_action_recorder",
+    "record_mode": "action",
+    "schema": "prometheus_raw_episode_v1",
+    "status": "saved",
+    "updated_at_unix": 1789902643.565878
+  }
+}

eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/manifests/camera.json

@@ -0,0 +1,104 @@
+{
+  "prometheus_camera_base_0_recorder": {
+    "camera_frames": {
+      "base_0_rgb": 522
+    },
+    "camera_timestamp_samples": 522,
+    "complete_sensor_bundles": 522,
+    "counts": {
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+      "camera.base_0_rgb": 522,
+      "camera.left_wrist_0_rgb": 524,
+      "camera.right_wrist_0_rgb": 525,
+      "dropped": 0,
+      "event.workflow": 1,
+      "items": 4272,
+      "robot.robot_state": 2202
+    },
+    "dropped_incomplete_sensor_bundles": 0,
+    "duplicate_sensor_messages": 0,
+    "episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/put_baozi/data/round_0004",
+    "failure": "",
+    "metadata": {
+      "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
+      "round_number": 4,
+      "run_id": "20260920_191018_985476_round_0004",
+      "workflow": "openpi_rollout"
+    },
+    "record_id": "prometheus_camera_base_0_recorder",
+    "record_mode": "sensor",
+    "schema": "prometheus_raw_episode_v1",
+    "sensor_kind": "camera",
+    "sensor_name": "base_0",
+    "status": "saved",
+    "updated_at_unix": 1789902643.565878
+  },
+  "prometheus_camera_left_wrist_0_recorder": {
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+    },
+    "camera_timestamp_samples": 524,
+    "complete_sensor_bundles": 524,
+    "counts": {
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+      "camera.right_wrist_0_rgb": 525,
+      "dropped": 0,
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+      "items": 4272,
+      "robot.robot_state": 2202
+    },
+    "dropped_incomplete_sensor_bundles": 0,
+    "duplicate_sensor_messages": 0,
+    "episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/put_baozi/data/round_0004",
+    "failure": "",
+    "metadata": {
+      "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
+      "round_number": 4,
+      "run_id": "20260920_191018_985476_round_0004",
+      "workflow": "openpi_rollout"
+    },
+    "record_id": "prometheus_camera_left_wrist_0_recorder",
+    "record_mode": "sensor",
+    "schema": "prometheus_raw_episode_v1",
+    "sensor_kind": "camera",
+    "sensor_name": "left_wrist_0",
+    "status": "saved",
+    "updated_at_unix": 1789902643.565878
+  },
+  "prometheus_camera_right_wrist_0_recorder": {
+    "camera_frames": {
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+    },
+    "camera_timestamp_samples": 525,
+    "complete_sensor_bundles": 525,
+    "counts": {
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+      "camera.left_wrist_0_rgb": 524,
+      "camera.right_wrist_0_rgb": 525,
+      "dropped": 0,
+      "event.workflow": 1,
+      "items": 4272,
+      "robot.robot_state": 2202
+    },
+    "dropped_incomplete_sensor_bundles": 0,
+    "duplicate_sensor_messages": 0,
+    "episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/put_baozi/data/round_0004",
+    "failure": "",
+    "metadata": {
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eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/manifests/event.json

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eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/manifests/robot.json

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eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/manifests/tactile.json

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eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0004/workflow_manifest.json

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eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/camera/metadata.json

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eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/manifests/action.json

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eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/manifests/camera.json

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eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/manifests/event.json

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eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/manifests/robot.json

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eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/manifests/tactile.json

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eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0005/workflow_manifest.json

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eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0006/camera/metadata.json

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eval/YAM/V3/pi0_20eps_20000/put_baozi/data/round_0006/debug/async_events.jsonl

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