Add files using upload-large-folder tool

eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0002/camera/metadata.json

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+    "topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
+    "video": "camera/base_0_rgb.mp4",
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+    "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
+    "video": "camera/left_wrist_0_rgb.mp4",
+    "width": 640
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+    "container": "mp4",
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+    "height": 480,
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+    "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
+    "video": "camera/right_wrist_0_rgb.mp4",
+    "width": 640
+  }
+}

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eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0002/manifests/action.json

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eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0002/manifests/camera.json

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eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0002/manifests/event.json

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eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0002/manifests/robot.json

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eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0002/manifests/tactile.json

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eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0010/camera/metadata.json

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eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0010/manifests/action.json

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eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0010/manifests/camera.json

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eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0010/manifests/event.json

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+{
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+    "counts": {
+      "action.executed": 424,
+      "camera.base_0_rgb": 447,
+      "camera.left_wrist_0_rgb": 449,
+      "camera.right_wrist_0_rgb": 451,
+      "dropped": 0,
+      "event.workflow": 1,
+      "items": 3674,
+      "robot.robot_state": 1902
+    },
+    "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place/data/round_0010",
+    "event_samples": 1,
+    "failure": "",
+    "metadata": {
+      "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
+      "round_number": 10,
+      "run_id": "20260917_225548_936830_round_0010",
+      "workflow": "openpi_rollout"
+    },
+    "record_id": "prometheus_event_recorder",
+    "record_mode": "event",
+    "schema": "prometheus_raw_episode_v1",
+    "status": "saved",
+    "updated_at_unix": 1789656970.9317248
+  }
+}

eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0010/manifests/robot.json

@@ -0,0 +1,37 @@
+{
+  "prometheus_robot_recorder": {
+    "counts": {
+      "action.executed": 424,
+      "camera.base_0_rgb": 447,
+      "camera.left_wrist_0_rgb": 449,
+      "camera.right_wrist_0_rgb": 451,
+      "dropped": 0,
+      "event.workflow": 1,
+      "items": 3674,
+      "robot.robot_state": 1902
+    },
+    "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place/data/round_0010",
+    "failure": "",
+    "incomplete_robot_samples": {
+      "left": 1902,
+      "right": 1902
+    },
+    "metadata": {
+      "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
+      "round_number": 10,
+      "run_id": "20260917_225548_936830_round_0010",
+      "workflow": "openpi_rollout"
+    },
+    "pending_robot_samples": 0,
+    "plot_outputs": [],
+    "record_id": "prometheus_robot_recorder",
+    "record_mode": "robot",
+    "robot_samples": {
+      "left": 1902,
+      "right": 1902
+    },
+    "schema": "prometheus_raw_episode_v1",
+    "status": "saved",
+    "updated_at_unix": 1789656970.9317248
+  }
+}

eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0010/manifests/tactile.json

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

eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0013/debug/async_events.jsonl

@@ -0,0 +1,53 @@
+{"event": "prediction_requested", "time_ns": 1789658022681879861, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
+{"event": "plan_adopted", "time_ns": 1789658022805531470, "actions_sent": 0, "prediction": 0, "queue_remaining": 30, "skipped_prefix": 0, "observation_age_ms": 113.30179698416032, "blended_steps": 0}
+{"event": "prediction_requested", "time_ns": 1789658023416760118, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789658023526605169, "actions_sent": 21, "prediction": 1, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 130.0367830262985, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1789658024004771928, "actions_sent": 35, "prediction": 2, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789658024111371864, "actions_sent": 38, "prediction": 2, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 118.93529797089286, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1789658024583907324, "actions_sent": 52, "prediction": 3, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789658024685507550, "actions_sent": 55, "prediction": 3, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 129.82336897403002, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1789658025159198004, "actions_sent": 69, "prediction": 4, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789658025263881071, "actions_sent": 72, "prediction": 4, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 140.3666159894783, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1789658025707100461, "actions_sent": 85, "prediction": 5, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789658025811091072, "actions_sent": 88, "prediction": 5, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 120.5516810005065, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1789658026285665785, "actions_sent": 102, "prediction": 6, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789658026392758039, "actions_sent": 105, "prediction": 6, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 133.04314098786563, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1789658026877162330, "actions_sent": 119, "prediction": 7, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789658026980603315, "actions_sent": 122, "prediction": 7, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 123.3484190015588, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1789658027463209348, "actions_sent": 136, "prediction": 8, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789658027570641866, "actions_sent": 139, "prediction": 8, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 146.00130598410033, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1789658028017105789, "actions_sent": 152, "prediction": 9, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789658028120786624, "actions_sent": 155, "prediction": 9, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 130.88330999016762, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1789658028599242758, "actions_sent": 169, "prediction": 10, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789658028706388577, "actions_sent": 172, "prediction": 10, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 145.23624599678442, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1789658029150150335, "actions_sent": 185, "prediction": 11, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789658029252754122, "actions_sent": 188, "prediction": 11, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 129.3126509990543, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1789658029736017157, "actions_sent": 202, "prediction": 12, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789658029840889422, "actions_sent": 205, "prediction": 12, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 116.5532270388212, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1789658030321548679, "actions_sent": 219, "prediction": 13, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789658030430872355, "actions_sent": 222, "prediction": 13, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 133.30018299166113, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1789658030905681186, "actions_sent": 236, "prediction": 14, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789658031013526055, "actions_sent": 239, "prediction": 14, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 119.06480201287195, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1789658031484651162, "actions_sent": 253, "prediction": 15, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789658031590607505, "actions_sent": 256, "prediction": 15, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 129.5148710196372, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1789658032060809252, "actions_sent": 270, "prediction": 16, "queue_remaining": 12}
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+{"event": "prediction_requested", "time_ns": 1789658032609110808, "actions_sent": 286, "prediction": 17, "queue_remaining": 12}
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+{"event": "prediction_requested", "time_ns": 1789658033184102908, "actions_sent": 303, "prediction": 18, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789658033286191427, "actions_sent": 306, "prediction": 18, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 128.52142000338063, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1789658033761833917, "actions_sent": 320, "prediction": 19, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789658033870237662, "actions_sent": 323, "prediction": 19, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 141.486818989506, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1789658034315392985, "actions_sent": 336, "prediction": 20, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789658034422149680, "actions_sent": 339, "prediction": 20, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 128.03961400641128, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1789658034892639049, "actions_sent": 353, "prediction": 21, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789658034995304729, "actions_sent": 356, "prediction": 21, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 137.4392879952211, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1789658035441009834, "actions_sent": 369, "prediction": 22, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789658035611375067, "actions_sent": 373, "prediction": 22, "queue_remaining": 24, "skipped_prefix": 6, "observation_age_ms": 184.17828701785766, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1789658036023134521, "actions_sent": 385, "prediction": 23, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789658036124961711, "actions_sent": 388, "prediction": 23, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 133.32713901763782, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1789658036599115684, "actions_sent": 402, "prediction": 24, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789658036705499280, "actions_sent": 405, "prediction": 24, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.2862870094832, "blended_steps": 5}
+{"event": "prediction_requested", "time_ns": 1789658037149768850, "actions_sent": 418, "prediction": 25, "queue_remaining": 12}
+{"event": "plan_adopted", "time_ns": 1789658037252393094, "actions_sent": 421, "prediction": 25, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 127.32376897474751, "blended_steps": 5}
+{"event": "operator_stopped", "time_ns": 1789658037543600517, "actions_sent": 430, "result": "failure"}

eval/YAM/V2/pi0.5_2500/catch_and_place/data/round_0013/manifests/action.json

@@ -0,0 +1,28 @@
+{
+  "prometheus_action_recorder": {
+    "counts": {
+      "action.executed": 430,
+      "camera.base_0_rgb": 453,
+      "camera.left_wrist_0_rgb": 454,
+      "camera.right_wrist_0_rgb": 453,
+      "dropped": 0,
+      "event.workflow": 1,
+      "items": 3604,
+      "robot.robot_state": 1813
+    },
+    "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place/data/round_0013",
+    "executed_actions": 430,
+    "failure": "",
+    "metadata": {
+      "round_number": 13,
+      "run_id": "20260917_225548_936830_round_0013",
+      "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": 1789658037.6588447
+  }
+}

eval/YAM/V2/pi0.5_2500/catch_and_place/metadata/hydra/.hydra/config.yaml

@@ -0,0 +1,239 @@
+ros:
+  localhost_only: true
+run:
+  id: ${now:%Y%m%d_%H%M%S_%f}
+  output_dir: outputs/openpi_rollout/seven_tasks_2500/catch_and_place
+  steps: 40
+  wait_ready_timeout_s: 30.0
+  runtime_dir: ${run.output_dir}/metadata/runtime
+  action_steps: 30
+policy:
+  host: 127.0.0.1
+  port: 8000
+  prompt: Use the right arm to pick up the bowl, hand it over to the left arm, and
+    place it on the plate to the left.
+  action_hz: 30.0
+  slop_ms: 20.0
+  observation_wait_timeout_s: 1.0
+  max_observation_age_s: 0.5
+  connect_timeout_s: 10.0
+  response_timeout_s: 120.0
+data:
+  history: 64
+  bridge:
+    enabled: true
+    name: openpi_observe_${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/V2/pi0.5_2500/catch_and_place/metadata/hydra/.hydra/hydra.yaml

@@ -0,0 +1,165 @@
+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 bowl, hand it over to the left
+      arm, and place it on the plate to the left."
+    - run.output_dir=outputs/openpi_rollout/seven_tasks_2500/catch_and_place
+  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 bowl, hand it over to the left arm, and place it
+      on the plate to the left.",run.action_steps=30,run.output_dir=outputs/openpi_rollout/seven_tasks_2500/catch_and_place,run.steps=40
+    id: ???
+    num: ???
+    config_name: openpi_seven_tasks_2500
+    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/seven_tasks_2500/catch_and_place/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/V2/pi0.5_2500/catch_and_place/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 bowl, hand it over to the left arm,
+  and place it on the plate to the left."
+- run.output_dir=outputs/openpi_rollout/seven_tasks_2500/catch_and_place

eval/YAM/V2/pi0.5_2500/flip_bread/data/round_0002/workflow_manifest.json

@@ -0,0 +1,613 @@
+{
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+    "expired_prefix_actions": 157,
+    "mode": "async_overlap",
+    "plans_adopted": 36,
+    "prediction_horizon": 30,
+    "predictions_requested": 36,
+    "prefetch_steps": 12,
+    "queue_underruns": 0,
+    "target_budget": 1200
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+    13.274309575261345,
+    14.009155302643812,
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+      "enabled": true,
+      "prefetch_steps": 12
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+    "data": {
+      "bridge": {
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+        "name": "openpi_observe_20260917_221835_795353",
+        "qos_depth": 10,
+        "sensor_qos": "reliable",
+        "stamp_source": "header",
+        "wait_all_streams": true
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+      "history": 64,
+      "mode": "owned",
+      "name": "openpi_data",
+      "numpy": {
+        "enabled": true
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+      "recording": {
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+        "default_event_value": null,
+        "enable_plots": false,
+        "enabled": true,
+        "fps": 30.0,
+        "output_dir": "outputs/openpi_rollout/seven_tasks_2500/flip_bread/data",
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+          "topic": "/prometheus/sensors/cameras/base_0/color/image_raw"
+        },
+        "left_wrist_0_color": {
+          "domain": "sensor",
+          "msg_type": "sensor_msgs.msg.Image",
+          "ros_domain_id": 22,
+          "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw"
+        },
+        "right_wrist_0_color": {
+          "domain": "sensor",
+          "msg_type": "sensor_msgs.msg.Image",
+          "ros_domain_id": 22,
+          "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw"
+        },
+        "robot_state": {
+          "domain": "robot",
+          "msg_type": "sensor_msgs.msg.JointState",
+          "ros_domain_id": 21,
+          "topic": "/prometheus/robots/yam/state"
+        }
+      }
+    },
+    "execute": true,
+    "execution": {
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+      "hold_settle_s": 0.2,
+      "hold_settle_timeout_s": 5.0,
+      "max_prediction_age_s": 0.5,
+      "max_schedule_lateness_s": 0.105
+    },
+    "hardware": {
+      "mode": "owned",
+      "name": "openpi_hardware",
+      "sensors": "auto",
+      "streams": "auto"
+    },
+    "policy": {
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+      "connect_timeout_s": 10.0,
+      "host": "127.0.0.1",
+      "max_observation_age_s": 0.5,
+      "observation_wait_timeout_s": 1.0,
+      "port": 8000,
+      "prompt": "Use the right arm to grasp the handle of the small frying pan and flip the bread into the large frying pan on the right.",
+      "response_timeout_s": 120.0,
+      "slop_ms": 20.0
+    },
+    "preview": {
+      "enabled": true,
+      "fps": 20.0,
+      "height": 720,
+      "host": "127.0.0.1",
+      "mode": "local",
+      "port": 7860,
+      "refresh_ms": 100,
+      "stale_timeout_s": 1.0,
+      "ui_mode": "openpi",
+      "width": 1280,
+      "window": "Pi0.5 - Async execution"
+    },
+    "robot": {
+      "_target_": "prometheus.nodes.robots.yam.resolve_robot",
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+        "capture_height": 480,
+        "capture_hz": 30,
+        "capture_width": 640,
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+        "serial_no": {
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+          "right_wrist_0": "260322279382"
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+      "collection_input_source": "pedal,tty",
+      "collection_pedal": {
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+        "confirm_window_s": 1.0,
+        "debounce_s": 0.05,
+        "devices": [
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+        "exclusive": true,
+        "pedal_map": {
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+        "control_hz": 120,
+        "enable_auto_recovery": false,
+        "follower_arm": "yam_ultra",
+        "follower_can": {
+          "left": "can_follower_l",
+          "right": "can_follower_r"
+        },
+        "follower_gripper": "linear_4310",
+        "gripper_width_m": 0.096,
+        "home_return": {
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eval/YAM/V2/pi0.5_2500/flip_bread/data/round_0005/camera/metadata.json

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eval/YAM/V2/pi0.5_2500/flip_bread/data/round_0005/manifests/action.json

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eval/YAM/V2/pi0.5_2500/flip_bread/data/round_0005/manifests/event.json

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eval/YAM/V2/pi0.5_2500/flip_bread/data/round_0005/manifests/robot.json

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eval/YAM/V2/pi0.5_2500/flip_bread/data/round_0005/manifests/tactile.json

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eval/YAM/V2/pi0.5_2500/flip_bread/data/round_0005/workflow_manifest.json

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eval/YAM/V2/pi0.5_2500/flip_bread/data/round_0006/camera/metadata.json

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eval/YAM/V2/pi0.5_2500/flip_bread/data/round_0006/manifests/action.json

@@ -0,0 +1,28 @@
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