INFO 2026-05-14 10:51:39 cord_eef.py:339 {'dataset': {'encoder_queue_maxsize': 30,
             'encoder_threads': None,
             'episode_time_s': 30,
             'fps': 30,
             'num_episodes': 10,
             'num_image_writer_processes': 0,
             'num_image_writer_threads_per_camera': 4,
             'private': False,
             'push_to_hub': False,
             'repo_id': 'yanzy/Sort',
             'reset_time_s': 5,
             'root': None,
             'single_task': 'Put the pen in the box on the left and the eraser '
                            'in the box on the right',
             'streaming_encoding': False,
             'tags': None,
             'vcodec': 'libsvtav1',
             'video': True,
             'video_encoding_batch_size': 1},
 'display_compressed_images': False,
 'display_data': True,
 'display_ip': None,
 'display_port': None,
 'eef': {'enabled': True,
         'ik_initial_guess_current_joints': True,
         'joint_names': None,
         'max_ee_step_m': 0.1,
         'replay_initial_guess_current_joints': False,
         'target_frame_name': 'gripper_frame_link',
         'urdf_path': '/mnt/data/YANzhuoyang/Project/CODE/Algorithm/DiTAE/lerobot_real_robot/urdf/so101_new_calib.urdf',
         'use_workspace_safety': True,
         'workspace_max': [1.0, 1.0, 1.0],
         'workspace_min': [-1.0, -1.0, -1.0]},
 'play_sounds': True,
 'resume': False,
 'robot': {'calibration_dir': None,
           'cameras': {'top': {'backend': <Cv2Backends.ANY: 0>,
                               'color_mode': <ColorMode.RGB: 'rgb'>,
                               'fourcc': 'MJPG',
                               'fps': 30,
                               'height': 480,
                               'index_or_path': 2,
                               'rotation': <Cv2Rotation.NO_ROTATION: 0>,
                               'warmup_s': 1,
                               'width': 640}},
           'disable_torque_on_disconnect': True,
           'id': 'so101_follower_arm',
           'max_relative_target': None,
           'port': '/dev/ttyACM1',
           'use_degrees': True},
 'teleop': {'calibration_dir': None,
            'id': 'so101_leader_arm',
            'port': '/dev/ttyACM0',
            'use_degrees': True}}
INFO 2026-05-14 10:51:39 pipeline.py:151 Building robot EEF kinematics: urdf=/mnt/data/YANzhuoyang/Project/CODE/Algorithm/DiTAE/lerobot_real_robot/urdf/so101_new_calib.urdf target_frame=gripper_frame_link joints=['shoulder_pan', 'shoulder_lift', 'elbow_flex', 'wrist_flex', 'wrist_roll', 'gripper']
WARNING: Robot has the following self collisions in neutral position:
  -base_link_2 collides with shoulder_link_2
  -shoulder_link_0 collides with upper_arm_link_1
  -upper_arm_link_0 collides with lower_arm_link_0
  -lower_arm_link_2 collides with wrist_link_1
  -wrist_link_0 collides with gripper_link_1
  -gripper_link_0 collides with moving_jaw_so101_v1_link_0
INFO 2026-05-14 10:51:41 eo_utils.py:109 Using video codec: libsvtav1
INFO 2026-05-14 10:51:42 a_opencv.py:179 OpenCVCamera(2) connected.
INFO 2026-05-14 10:51:42 follower.py:105 so101_follower_arm SOFollower connected.
INFO 2026-05-14 10:51:42 so_leader.py:78 so101_leader_arm SOLeader connected.
INFO 2026-05-14 10:51:42 cord_eef.py:431 Streaming encoding is disabled. If you have capable hardware, consider enabling it for way faster episode saving. --dataset.streaming_encoding=true --dataset.encoder_threads=2 # --dataset.vcodec=auto. More info in the documentation: https://huggingface.co/docs/lerobot/streaming_video_encoding
INFO 2026-05-14 10:51:42 ls/utils.py:143 Recording episode 0
INFO 2026-05-14 10:51:50 ls/utils.py:143 Reset the environment
INFO 2026-05-14 10:51:55 ls/utils.py:143 Re-record episode
INFO 2026-05-14 10:51:55 ls/utils.py:143 Recording episode 0
INFO 2026-05-14 10:52:24 ls/utils.py:143 Reset the environment
INFO 2026-05-14 10:52:29 ls/utils.py:143 Re-record episode
INFO 2026-05-14 10:52:29 ls/utils.py:143 Recording episode 0
INFO 2026-05-14 10:52:38 ls/utils.py:143 Reset the environment
INFO 2026-05-14 10:52:43 ls/utils.py:143 Re-record episode
INFO 2026-05-14 10:52:43 ls/utils.py:143 Recording episode 0
INFO 2026-05-14 10:53:13 ls/utils.py:143 Reset the environment
INFO 2026-05-14 10:53:16 ls/utils.py:143 Re-record episode
INFO 2026-05-14 10:53:16 ls/utils.py:143 Recording episode 0
INFO 2026-05-14 10:53:26 ls/utils.py:143 Reset the environment
INFO 2026-05-14 10:53:31 ls/utils.py:143 Re-record episode
INFO 2026-05-14 10:53:31 ls/utils.py:143 Recording episode 0
INFO 2026-05-14 10:54:01 ls/utils.py:143 Reset the environment
Left arrow key pressed. Exiting loop and rerecord the last episode...
Left arrow key pressed. Exiting loop and rerecord the last episode...
Left arrow key pressed. Exiting loop and rerecord the last episode...
Left arrow key pressed. Exiting loop and rerecord the last episode...
Left arrow key pressed. Exiting loop and rerecord the last episode...
Right arrow key pressed. Exiting loop...

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INFO 2026-05-14 10:54:07 eo_utils.py:109 Using video codec: libsvtav1
Svt[info]: -------------------------------------------
Svt[info]: SVT [version]:	SVT-AV1 Encoder Lib v3.0.0
Svt[info]: SVT [build]  :	GCC 14.2.1 20250110 (Red Hat 14.2.1-7)	 64 bit
Svt[info]: LIB Build date: Jul  3 2025 03:14:07
Svt[info]: -------------------------------------------
Svt[warn]: Preset M12 is mapped to M10.
Svt[info]: Level of Parallelism: 5
Svt[info]: Number of PPCS 76
Svt[info]: [asm level on system : up to avx2]
Svt[info]: [asm level selected : up to avx2]
Svt[info]: -------------------------------------------
Svt[info]: SVT [config]: main profile	tier (auto)	level (auto)
Svt[info]: SVT [config]: width / height / fps numerator / fps denominator 		: 640 / 480 / 30 / 1
Svt[info]: SVT [config]: bit-depth / color format 					: 8 / YUV420
Svt[info]: SVT [config]: preset / tune / pred struct 					: 10 / PSNR / random access
Svt[info]: SVT [config]: gop size / mini-gop size / key-frame type 			: 2 / 16 / key frame
Svt[info]: SVT [config]: BRC mode / rate factor 					: CRF / 30 
Svt[info]: SVT [config]: AQ mode / variance boost 					: 2 / 0
Svt[info]: SVT [config]: sharpness / luminance-based QP bias 			: 0 / 0
Svt[info]: Svt[info]: -------------------------------------------
INFO 2026-05-14 10:54:11 ls/utils.py:143 Recording episode 1
INFO 2026-05-14 10:54:40 ls/utils.py:143 Reset the environment
Right arrow key pressed. Exiting loop...

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INFO 2026-05-14 10:54:47 eo_utils.py:109 Using video codec: libsvtav1
Svt[info]: -------------------------------------------
Svt[info]: SVT [version]:	SVT-AV1 Encoder Lib v3.0.0
Svt[info]: SVT [build]  :	GCC 14.2.1 20250110 (Red Hat 14.2.1-7)	 64 bit
Svt[info]: LIB Build date: Jul  3 2025 03:14:07
Svt[info]: -------------------------------------------
Svt[warn]: Preset M12 is mapped to M10.
Svt[info]: Level of Parallelism: 5
Svt[info]: Number of PPCS 76
Svt[info]: [asm level on system : up to avx2]
Svt[info]: [asm level selected : up to avx2]
Svt[info]: -------------------------------------------
Svt[info]: SVT [config]: main profile	tier (auto)	level (auto)
Svt[info]: SVT [config]: width / height / fps numerator / fps denominator 		: 640 / 480 / 30 / 1
Svt[info]: SVT [config]: bit-depth / color format 					: 8 / YUV420
Svt[info]: SVT [config]: preset / tune / pred struct 					: 10 / PSNR / random access
Svt[info]: SVT [config]: gop size / mini-gop size / key-frame type 			: 2 / 16 / key frame
Svt[info]: SVT [config]: BRC mode / rate factor 					: CRF / 30 
Svt[info]: SVT [config]: AQ mode / variance boost 					: 2 / 0
Svt[info]: SVT [config]: sharpness / luminance-based QP bias 			: 0 / 0
Svt[info]: Svt[info]: -------------------------------------------
[mp4 @ 0x4c7d98c0] Starting second pass: moving the moov atom to the beginning of the file
INFO 2026-05-14 10:54:51 ls/utils.py:143 Recording episode 2
INFO 2026-05-14 10:55:19 ls/utils.py:143 Reset the environment
INFO 2026-05-14 10:55:24 ls/utils.py:143 Re-record episode
INFO 2026-05-14 10:55:24 ls/utils.py:143 Recording episode 2
INFO 2026-05-14 10:55:27 ls/utils.py:143 Reset the environment
INFO 2026-05-14 10:55:32 ls/utils.py:143 Re-record episode
INFO 2026-05-14 10:55:32 ls/utils.py:143 Recording episode 2
INFO 2026-05-14 10:56:01 ls/utils.py:143 Reset the environment
Left arrow key pressed. Exiting loop and rerecord the last episode...
Left arrow key pressed. Exiting loop and rerecord the last episode...
Right arrow key pressed. Exiting loop...

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INFO 2026-05-14 10:56:07 eo_utils.py:109 Using video codec: libsvtav1
Svt[info]: -------------------------------------------
Svt[info]: SVT [version]:	SVT-AV1 Encoder Lib v3.0.0
Svt[info]: SVT [build]  :	GCC 14.2.1 20250110 (Red Hat 14.2.1-7)	 64 bit
Svt[info]: LIB Build date: Jul  3 2025 03:14:07
Svt[info]: -------------------------------------------
Svt[warn]: Preset M12 is mapped to M10.
Svt[info]: Level of Parallelism: 5
Svt[info]: Number of PPCS 76
Svt[info]: [asm level on system : up to avx2]
Svt[info]: [asm level selected : up to avx2]
Svt[info]: -------------------------------------------
Svt[info]: SVT [config]: main profile	tier (auto)	level (auto)
Svt[info]: SVT [config]: width / height / fps numerator / fps denominator 		: 640 / 480 / 30 / 1
Svt[info]: SVT [config]: bit-depth / color format 					: 8 / YUV420
Svt[info]: SVT [config]: preset / tune / pred struct 					: 10 / PSNR / random access
Svt[info]: SVT [config]: gop size / mini-gop size / key-frame type 			: 2 / 16 / key frame
Svt[info]: SVT [config]: BRC mode / rate factor 					: CRF / 30 
Svt[info]: SVT [config]: AQ mode / variance boost 					: 2 / 0
Svt[info]: SVT [config]: sharpness / luminance-based QP bias 			: 0 / 0
Svt[info]: Svt[info]: -------------------------------------------
[mp4 @ 0x4df5a600] Starting second pass: moving the moov atom to the beginning of the file
INFO 2026-05-14 10:56:11 ls/utils.py:143 Recording episode 3
INFO 2026-05-14 10:56:16 ls/utils.py:143 Reset the environment
INFO 2026-05-14 10:56:21 ls/utils.py:143 Re-record episode
INFO 2026-05-14 10:56:21 ls/utils.py:143 Recording episode 3
INFO 2026-05-14 10:56:24 ls/utils.py:143 Reset the environment
INFO 2026-05-14 10:56:29 ls/utils.py:143 Re-record episode
INFO 2026-05-14 10:56:29 ls/utils.py:143 Recording episode 3
INFO 2026-05-14 10:56:58 ls/utils.py:143 Reset the environment
Left arrow key pressed. Exiting loop and rerecord the last episode...
Left arrow key pressed. Exiting loop and rerecord the last episode...
Right arrow key pressed. Exiting loop...

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INFO 2026-05-14 10:57:05 eo_utils.py:109 Using video codec: libsvtav1
Svt[info]: -------------------------------------------
Svt[info]: SVT [version]:	SVT-AV1 Encoder Lib v3.0.0
Svt[info]: SVT [build]  :	GCC 14.2.1 20250110 (Red Hat 14.2.1-7)	 64 bit
Svt[info]: LIB Build date: Jul  3 2025 03:14:07
Svt[info]: -------------------------------------------
Svt[warn]: Preset M12 is mapped to M10.
Svt[info]: Level of Parallelism: 5
Svt[info]: Number of PPCS 76
Svt[info]: [asm level on system : up to avx2]
Svt[info]: [asm level selected : up to avx2]
Svt[info]: -------------------------------------------
Svt[info]: SVT [config]: main profile	tier (auto)	level (auto)
Svt[info]: SVT [config]: width / height / fps numerator / fps denominator 		: 640 / 480 / 30 / 1
Svt[info]: SVT [config]: bit-depth / color format 					: 8 / YUV420
Svt[info]: SVT [config]: preset / tune / pred struct 					: 10 / PSNR / random access
Svt[info]: SVT [config]: gop size / mini-gop size / key-frame type 			: 2 / 16 / key frame
Svt[info]: SVT [config]: BRC mode / rate factor 					: CRF / 30 
Svt[info]: SVT [config]: AQ mode / variance boost 					: 2 / 0
Svt[info]: SVT [config]: sharpness / luminance-based QP bias 			: 0 / 0
Svt[info]: Svt[info]: -------------------------------------------
[mp4 @ 0x4f544280] Starting second pass: moving the moov atom to the beginning of the file
INFO 2026-05-14 10:57:09 ls/utils.py:143 Recording episode 4
INFO 2026-05-14 10:57:38 ls/utils.py:143 Reset the environment
Right arrow key pressed. Exiting loop...

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INFO 2026-05-14 10:57:45 eo_utils.py:109 Using video codec: libsvtav1
Svt[info]: -------------------------------------------
Svt[info]: SVT [version]:	SVT-AV1 Encoder Lib v3.0.0
Svt[info]: SVT [build]  :	GCC 14.2.1 20250110 (Red Hat 14.2.1-7)	 64 bit
Svt[info]: LIB Build date: Jul  3 2025 03:14:07
Svt[info]: -------------------------------------------
Svt[warn]: Preset M12 is mapped to M10.
Svt[info]: Level of Parallelism: 5
Svt[info]: Number of PPCS 76
Svt[info]: [asm level on system : up to avx2]
Svt[info]: [asm level selected : up to avx2]
Svt[info]: -------------------------------------------
Svt[info]: SVT [config]: main profile	tier (auto)	level (auto)
Svt[info]: SVT [config]: width / height / fps numerator / fps denominator 		: 640 / 480 / 30 / 1
Svt[info]: SVT [config]: bit-depth / color format 					: 8 / YUV420
Svt[info]: SVT [config]: preset / tune / pred struct 					: 10 / PSNR / random access
Svt[info]: SVT [config]: gop size / mini-gop size / key-frame type 			: 2 / 16 / key frame
Svt[info]: SVT [config]: BRC mode / rate factor 					: CRF / 30 
Svt[info]: SVT [config]: AQ mode / variance boost 					: 2 / 0
Svt[info]: SVT [config]: sharpness / luminance-based QP bias 			: 0 / 0
Svt[info]: Svt[info]: -------------------------------------------
[mp4 @ 0x4c7d1340] Starting second pass: moving the moov atom to the beginning of the file
INFO 2026-05-14 10:57:49 ls/utils.py:143 Recording episode 5
INFO 2026-05-14 10:58:16 ls/utils.py:143 Reset the environment
Right arrow key pressed. Exiting loop...

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INFO 2026-05-14 10:58:22 eo_utils.py:109 Using video codec: libsvtav1
Svt[info]: -------------------------------------------
Svt[info]: SVT [version]:	SVT-AV1 Encoder Lib v3.0.0
Svt[info]: SVT [build]  :	GCC 14.2.1 20250110 (Red Hat 14.2.1-7)	 64 bit
Svt[info]: LIB Build date: Jul  3 2025 03:14:07
Svt[info]: -------------------------------------------
Svt[warn]: Preset M12 is mapped to M10.
Svt[info]: Level of Parallelism: 5
Svt[info]: Number of PPCS 76
Svt[info]: [asm level on system : up to avx2]
Svt[info]: [asm level selected : up to avx2]
Svt[info]: -------------------------------------------
Svt[info]: SVT [config]: main profile	tier (auto)	level (auto)
Svt[info]: SVT [config]: width / height / fps numerator / fps denominator 		: 640 / 480 / 30 / 1
Svt[info]: SVT [config]: bit-depth / color format 					: 8 / YUV420
Svt[info]: SVT [config]: preset / tune / pred struct 					: 10 / PSNR / random access
Svt[info]: SVT [config]: gop size / mini-gop size / key-frame type 			: 2 / 16 / key frame
Svt[info]: SVT [config]: BRC mode / rate factor 					: CRF / 30 
Svt[info]: SVT [config]: AQ mode / variance boost 					: 2 / 0
Svt[info]: SVT [config]: sharpness / luminance-based QP bias 			: 0 / 0
Svt[info]: Svt[info]: -------------------------------------------
[mp4 @ 0x4feb5d00] Starting second pass: moving the moov atom to the beginning of the file
INFO 2026-05-14 10:58:26 ls/utils.py:143 Recording episode 6
INFO 2026-05-14 10:58:54 ls/utils.py:143 Reset the environment
Right arrow key pressed. Exiting loop...

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INFO 2026-05-14 10:59:00 eo_utils.py:109 Using video codec: libsvtav1
Svt[info]: -------------------------------------------
Svt[info]: SVT [version]:	SVT-AV1 Encoder Lib v3.0.0
Svt[info]: SVT [build]  :	GCC 14.2.1 20250110 (Red Hat 14.2.1-7)	 64 bit
Svt[info]: LIB Build date: Jul  3 2025 03:14:07
Svt[info]: -------------------------------------------
Svt[warn]: Preset M12 is mapped to M10.
Svt[info]: Level of Parallelism: 5
Svt[info]: Number of PPCS 76
Svt[info]: [asm level on system : up to avx2]
Svt[info]: [asm level selected : up to avx2]
Svt[info]: -------------------------------------------
Svt[info]: SVT [config]: main profile	tier (auto)	level (auto)
Svt[info]: SVT [config]: width / height / fps numerator / fps denominator 		: 640 / 480 / 30 / 1
Svt[info]: SVT [config]: bit-depth / color format 					: 8 / YUV420
Svt[info]: SVT [config]: preset / tune / pred struct 					: 10 / PSNR / random access
Svt[info]: SVT [config]: gop size / mini-gop size / key-frame type 			: 2 / 16 / key frame
Svt[info]: SVT [config]: BRC mode / rate factor 					: CRF / 30 
Svt[info]: SVT [config]: AQ mode / variance boost 					: 2 / 0
Svt[info]: SVT [config]: sharpness / luminance-based QP bias 			: 0 / 0
Svt[info]: Svt[info]: -------------------------------------------
[mp4 @ 0x5a098bc0] Starting second pass: moving the moov atom to the beginning of the file
INFO 2026-05-14 10:59:04 ls/utils.py:143 Recording episode 7
INFO 2026-05-14 10:59:28 ls/utils.py:143 Reset the environment
Right arrow key pressed. Exiting loop...

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INFO 2026-05-14 10:59:34 eo_utils.py:109 Using video codec: libsvtav1
Svt[info]: -------------------------------------------
Svt[info]: SVT [version]:	SVT-AV1 Encoder Lib v3.0.0
Svt[info]: SVT [build]  :	GCC 14.2.1 20250110 (Red Hat 14.2.1-7)	 64 bit
Svt[info]: LIB Build date: Jul  3 2025 03:14:07
Svt[info]: -------------------------------------------
Svt[warn]: Preset M12 is mapped to M10.
Svt[info]: Level of Parallelism: 5
Svt[info]: Number of PPCS 76
Svt[info]: [asm level on system : up to avx2]
Svt[info]: [asm level selected : up to avx2]
Svt[info]: -------------------------------------------
Svt[info]: SVT [config]: main profile	tier (auto)	level (auto)
Svt[info]: SVT [config]: width / height / fps numerator / fps denominator 		: 640 / 480 / 30 / 1
Svt[info]: SVT [config]: bit-depth / color format 					: 8 / YUV420
Svt[info]: SVT [config]: preset / tune / pred struct 					: 10 / PSNR / random access
Svt[info]: SVT [config]: gop size / mini-gop size / key-frame type 			: 2 / 16 / key frame
Svt[info]: SVT [config]: BRC mode / rate factor 					: CRF / 30 
Svt[info]: SVT [config]: AQ mode / variance boost 					: 2 / 0
Svt[info]: SVT [config]: sharpness / luminance-based QP bias 			: 0 / 0
Svt[info]: Svt[info]: -------------------------------------------
[mp4 @ 0x5d8cea00] Starting second pass: moving the moov atom to the beginning of the file
INFO 2026-05-14 10:59:38 ls/utils.py:143 Recording episode 8
INFO 2026-05-14 10:59:44 ls/utils.py:143 Reset the environment
INFO 2026-05-14 10:59:49 ls/utils.py:143 Re-record episode
INFO 2026-05-14 10:59:49 ls/utils.py:143 Recording episode 8
INFO 2026-05-14 10:59:55 ls/utils.py:143 Reset the environment
INFO 2026-05-14 11:00:00 ls/utils.py:143 Re-record episode
INFO 2026-05-14 11:00:00 ls/utils.py:143 Recording episode 8
INFO 2026-05-14 11:00:10 ls/utils.py:143 Reset the environment
INFO 2026-05-14 11:00:15 ls/utils.py:143 Re-record episode
INFO 2026-05-14 11:00:15 ls/utils.py:143 Recording episode 8
INFO 2026-05-14 11:00:43 ls/utils.py:143 Reset the environment
Left arrow key pressed. Exiting loop and rerecord the last episode...
Left arrow key pressed. Exiting loop and rerecord the last episode...
Left arrow key pressed. Exiting loop and rerecord the last episode...
Right arrow key pressed. Exiting loop...

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INFO 2026-05-14 11:00:49 eo_utils.py:109 Using video codec: libsvtav1
Svt[info]: -------------------------------------------
Svt[info]: SVT [version]:	SVT-AV1 Encoder Lib v3.0.0
Svt[info]: SVT [build]  :	GCC 14.2.1 20250110 (Red Hat 14.2.1-7)	 64 bit
Svt[info]: LIB Build date: Jul  3 2025 03:14:07
Svt[info]: -------------------------------------------
Svt[warn]: Preset M12 is mapped to M10.
Svt[info]: Level of Parallelism: 5
Svt[info]: Number of PPCS 76
Svt[info]: [asm level on system : up to avx2]
Svt[info]: [asm level selected : up to avx2]
Svt[info]: -------------------------------------------
Svt[info]: SVT [config]: main profile	tier (auto)	level (auto)
Svt[info]: SVT [config]: width / height / fps numerator / fps denominator 		: 640 / 480 / 30 / 1
Svt[info]: SVT [config]: bit-depth / color format 					: 8 / YUV420
Svt[info]: SVT [config]: preset / tune / pred struct 					: 10 / PSNR / random access
Svt[info]: SVT [config]: gop size / mini-gop size / key-frame type 			: 2 / 16 / key frame
Svt[info]: SVT [config]: BRC mode / rate factor 					: CRF / 30 
Svt[info]: SVT [config]: AQ mode / variance boost 					: 2 / 0
Svt[info]: SVT [config]: sharpness / luminance-based QP bias 			: 0 / 0
Svt[info]: Svt[info]: -------------------------------------------
[mp4 @ 0x53d0b680] Starting second pass: moving the moov atom to the beginning of the file
INFO 2026-05-14 11:00:53 ls/utils.py:143 Recording episode 9
Right arrow key pressed. Exiting loop...

Map:   0%|          | 0/773 [00:00<?, ? examples/s]
Map:  57%|█████▋    | 439/773 [00:00<00:00, 4367.53 examples/s]
Map: 100%|██████████| 773/773 [00:00<00:00, 4233.04 examples/s]
INFO 2026-05-14 11:01:20 eo_utils.py:109 Using video codec: libsvtav1
Svt[info]: -------------------------------------------
Svt[info]: SVT [version]:	SVT-AV1 Encoder Lib v3.0.0
Svt[info]: SVT [build]  :	GCC 14.2.1 20250110 (Red Hat 14.2.1-7)	 64 bit
Svt[info]: LIB Build date: Jul  3 2025 03:14:07
Svt[info]: -------------------------------------------
Svt[warn]: Preset M12 is mapped to M10.
Svt[info]: Level of Parallelism: 5
Svt[info]: Number of PPCS 76
Svt[info]: [asm level on system : up to avx2]
Svt[info]: [asm level selected : up to avx2]
Svt[info]: -------------------------------------------
Svt[info]: SVT [config]: main profile	tier (auto)	level (auto)
Svt[info]: SVT [config]: width / height / fps numerator / fps denominator 		: 640 / 480 / 30 / 1
Svt[info]: SVT [config]: bit-depth / color format 					: 8 / YUV420
Svt[info]: SVT [config]: preset / tune / pred struct 					: 10 / PSNR / random access
Svt[info]: SVT [config]: gop size / mini-gop size / key-frame type 			: 2 / 16 / key frame
Svt[info]: SVT [config]: BRC mode / rate factor 					: CRF / 30 
Svt[info]: SVT [config]: AQ mode / variance boost 					: 2 / 0
Svt[info]: SVT [config]: sharpness / luminance-based QP bias 			: 0 / 0
Svt[info]: Svt[info]: -------------------------------------------
[mp4 @ 0x53d0b680] Starting second pass: moving the moov atom to the beginning of the file
INFO 2026-05-14 11:01:24 ls/utils.py:143 Stop recording
INFO 2026-05-14 11:01:26 a_opencv.py:592 OpenCVCamera(2) disconnected.
INFO 2026-05-14 11:01:26 follower.py:229 so101_follower_arm SOFollower disconnected.
INFO 2026-05-14 11:01:26 o_leader.py:163 so101_leader_arm SOLeader disconnected.
INFO 2026-05-14 11:01:26 ls/utils.py:143 Exiting