My cluster is in bad health, most parcels have space issues. You can see below YARN's.
Is there any method to clean these directories and free up some space?
You can manually log in to the nodes espicially in cloudera manager nodes for cleaning off the parcel directory space which you have configured earlier. In the same way you can manage the log directories also.
I hope you are aware, the cloudera manager only shows the warning and error messages but it does not involves in cleanup operations.
Hope this helps!