uv run rd infer     --bridge openpi_bridge:OpenPiBridge     --ckpt_path unused     --action_hz 30  --resize_images ''   --visualize --max_joint_delta 0.5    --bridge-kwargs host=localhost port=8000 action_horizon=26  prompt='Sort cans shortest to heighest / left to right (robot'\''s perspective)'

uv run python /home/robot-lab/Pi0.5_yam/scripts/serve_policy.py     --port 8000     policy:checkpoint     --policy.config pi05_yam_dense     --policy.dir /home/robot-lab/checkpoints/pi05_yam_dense_60k