diff --git "a/meta/stats.json" "b/meta/stats.json"
--- "a/meta/stats.json"
+++ "b/meta/stats.json"
@@ -1,261 +1,174 @@
 {
-    "observation.state": {
-        "min": [
-            0.2704809606075287,
-            -0.48879191279411316,
-            0.1785561889410019,
-            -3.1415905952453613,
-            -0.582055926322937,
-            -3.1409735679626465,
-            0.0
-        ],
-        "max": [
-            0.7848861813545227,
-            0.3563217222690582,
-            0.48671817779541016,
-            3.141589641571045,
-            0.6079015135765076,
-            3.1413233280181885,
-            0.9911894202232361
-        ],
-        "mean": [
-            0.5361473675629846,
-            -0.04082182793084329,
-            0.23734595519411433,
-            -0.5946453782044562,
-            0.1774496497378692,
-            0.5549499945752244,
-            0.6749337305590872
-        ],
-        "std": [
-            0.1170519449823574,
-            0.1565283242773329,
-            0.054536514638814114,
-            2.9778060272372073,
-            0.16656267684072204,
-            1.4953507596922764,
-            0.37730947136882104
-        ],
-        "count": [
-            30315
-        ],
-        "q01": [
-            0.3696481215436256,
-            -0.17855655903227316,
-            0.196592946527449,
-            -2.9856380322532092,
-            -0.06975977234436764,
-            -0.6386464822466105,
-            -1.0000000000000002e-10
-        ],
-        "q10": [
-            0.4572566804348968,
-            -0.14252380832106426,
-            0.20722397056359676,
-            -2.5363317652608997,
-            0.04285180760246708,
-            -0.01867600925913325,
-            0.060243271580532894
-        ],
-        "q50": [
-            0.5445635123828694,
-            -0.06012415869787646,
-            0.22333819404211602,
-            -1.0177125528719315,
-            0.1743786284975596,
-            0.5669172796417492,
-            0.8451375587631882
-        ],
-        "q90": [
-            0.6049643506660852,
-            0.08790576924051278,
-            0.2760238638904222,
-            2.2333706296159272,
-            0.3266646097467084,
-            1.0964968306170926,
-            0.9157568289348554
-        ],
-        "q99": [
-            0.633795485550105,
-            0.11065400157182777,
-            0.4720599578473065,
-            2.9566723245788338,
-            0.366775935590754,
-            1.4610262637699003,
-            0.917880894054255
-        ]
-    },
-    "rope_x": {
-        "min": [
-            -0.12729115784168243
-        ],
-        "max": [
-            0.22574137151241302
-        ],
-        "mean": [
-            0.04055639914179052
-        ],
-        "std": [
-            0.1111968642677701
-        ],
-        "count": [
-            30315
-        ],
-        "q01": [
-            0.04055639968912536
-        ],
-        "q10": [
-            0.040556399689128914
-        ],
-        "q50": [
-            0.04055639968914492
-        ],
-        "q90": [
-            0.04055639968916093
-        ],
-        "q99": [
-            0.04055639968916459
-        ]
-    },
-    "observation.state.cartesian_velocity": {
-        "min": [
-            -0.2251930832862854,
-            -0.404171884059906,
-            -0.29557904601097107,
-            -0.467538982629776,
-            -0.48121532797813416,
-            -0.903372049331665
-        ],
-        "max": [
-            0.2343875765800476,
-            0.196737140417099,
-            0.17919480800628662,
-            0.4337814450263977,
-            0.44676828384399414,
-            0.9729872345924377
-        ],
-        "mean": [
-            0.006260940948570046,
-            -0.002288271360531222,
-            -0.009537338586663913,
-            0.00187858759407378,
-            0.01111418771075547,
-            0.020421630758171213
-        ],
-        "std": [
-            0.036167697623492145,
-            0.03929997183360582,
-            0.03871137537221858,
-            0.06217553622129773,
-            0.058322515106955394,
-            0.21534374771018988
-        ],
-        "count": [
-            30315
-        ],
-        "q01": [
-            -0.06557133729133975,
-            -0.14278579929734,
-            -0.14471878251052644,
-            -0.20689245301857215,
-            -0.14642526477858994,
-            -0.4745828510980912
-        ],
-        "q10": [
-            -0.019607816763856593,
-            -0.028398643640331497,
-            -0.04796238930245451,
-            -0.043826256344097723,
-            -0.0416521775907303,
-            -0.16355499401630902
-        ],
-        "q50": [
-            0.001216647879755366,
-            0.001066506449456073,
-            -0.001784445615270006,
-            0.0009079997053946692,
-            0.006758155478780006,
-            0.00737785536859101
-        ],
-        "q90": [
-            0.03952991767255466,
-            0.02616775069496552,
-            0.01661600118893626,
-            0.05229156886673359,
-            0.07369213828289481,
-            0.25015844847674124
-        ],
-        "q99": [
-            0.12332015664884194,
-            0.07079024096864399,
-            0.07616781648084592,
-            0.18049975846027272,
-            0.1676875511600019,
-            0.5657646417506876
-        ]
-    },
-    "policy_id": {
+    "telemetry.franka.motor_torques_measured": {
         "min": [
-            0.0
+            -9.489714622497559,
+            -62.928375244140625,
+            -12.108169555664062,
+            6.6570916175842285,
+            -2.2504847049713135,
+            -2.812321186065674,
+            -0.3910229206085205
         ],
         "max": [
-            8.0
+            7.811615943908691,
+            1.0163275003433228,
+            21.903366088867188,
+            30.93687629699707,
+            2.2548253536224365,
+            7.084529399871826,
+            1.2120654582977295
         ],
         "mean": [
-            4.458914728682171
+            -0.6359718483764765,
+            -37.398325700398786,
+            0.07420720978450626,
+            18.858656015021346,
+            0.5515630555730128,
+            2.054573584127958,
+            0.11919730630529811
         ],
         "std": [
-            2.5096717305464202
+            1.2623298896175459,
+            10.787246437797616,
+            2.5119643375345033,
+            2.7144819772567224,
+            0.4188703955940868,
+            0.6319579211112419,
+            0.20504782859568785
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            4.458914728682171
+            -3.235719620965304,
+            -46.98220467737709,
+            -3.1178417703549224,
+            15.255693409450128,
+            -0.15987916666667254,
+            1.0630854957908427,
+            -0.17721089371964774
         ],
         "q10": [
-            4.458914728682171
+            -1.891437605938627,
+            -44.077289535745805,
+            -1.7698773531830654,
+            16.66962641177962,
+            0.10078618758270803,
+            1.4426575884935822,
+            -0.08388719705074234
         ],
         "q50": [
-            4.458914728682187
+            -0.5809824723489995,
+            -38.45295680425265,
+            -0.04113781506200857,
+            18.73670963614849,
+            0.5446755687925351,
+            2.0224338711618106,
+            0.1017346248388293
         ],
         "q90": [
-            4.458914728682205
+            0.494785903696249,
+            -30.000735741294708,
+            2.2688332229775683,
+            21.216812002796384,
+            1.0193946968845824,
+            2.7189106816994153,
+            0.3560079962094899
         ],
         "q99": [
-            4.45891472868221
+            1.5895024154209059,
+            -13.493295955286984,
+            3.5119717083350768,
+            23.925999342156707,
+            1.2972575167210645,
+            3.196237990613462,
+            0.4909007181369296
         ]
     },
-    "clip_left_oidx": {
+    "observation.state.joint_velocity": {
         "min": [
-            0.0
+            -0.9974589347839355,
+            -0.477407306432724,
+            -1.0037033557891846,
+            -0.640770673751831,
+            -0.9878798723220825,
+            -0.605728805065155,
+            -0.9473322629928589
         ],
         "max": [
-            2.0
+            1.0285422801971436,
+            0.9193381071090698,
+            1.0767524242401123,
+            0.7356977462768555,
+            0.9583984017372131,
+            0.8248189091682434,
+            0.986279308795929
         ],
         "mean": [
-            0.7218868546923966
+            -0.005313265605258074,
+            0.039370903729384336,
+            0.00021484502542023988,
+            0.01958855873602641,
+            0.00010066591836644303,
+            0.01182940655061276,
+            -0.026434569425521737
         ],
         "std": [
-            0.7164849983256573
+            0.058275184510900954,
+            0.13314719623159008,
+            0.058224731792408904,
+            0.1113242803391338,
+            0.10454335493559774,
+            0.09209202983765397,
+            0.17670424547543623
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            0.7218868546923967
+            -0.19034905927906018,
+            -0.19161987017241777,
+            -0.15284227790693006,
+            -0.22988172899668147,
+            -0.35766691462471256,
+            -0.1762439742155646,
+            -0.5173742941166801
         ],
         "q10": [
-            0.7218868546924002
+            -0.04129482511167047,
+            -0.04429032003527675,
+            -0.03501373955206726,
+            -0.05827450047517027,
+            -0.0653894019929441,
+            -0.04398898141500818,
+            -0.20991789624336807
         ],
         "q50": [
-            0.7218868546924173
+            9.098433471734933e-05,
+            0.0074953538395322915,
+            0.0006574529498043509,
+            0.005135949856653788,
+            3.908563867865963e-05,
+            0.0001092373728483415,
+            -0.004037667411078162
         ],
         "q90": [
-            0.7218868546924326
+            0.026598413575872424,
+            0.17711051765674557,
+            0.036376925940386,
+            0.12426480200125281,
+            0.0742479165273,
+            0.07412346967693714,
+            0.10920165916686243
         ],
         "q99": [
-            0.7218868546924361
+            0.1139549577927517,
+            0.49265147571632734,
+            0.1477611593428716,
+            0.3441894758717967,
+            0.28961938623942224,
+            0.376049955268177,
+            0.3868630879908188
         ]
     },
     "action.cartesian_velocity": {
@@ -264,257 +177,139 @@
             -0.90827476978302,
             -1.026308536529541,
             -0.7536492943763733,
-            -0.5751551389694214,
-            -1.788225531578064
+            -0.6544633507728577,
+            -1.941604733467102
         ],
         "max": [
             1.3156167268753052,
             0.49648264050483704,
             0.6294729113578796,
-            0.6076173186302185,
+            0.6918748021125793,
             0.4934086203575134,
             2.863708019256592
         ],
         "mean": [
-            -0.012065399759251676,
-            -0.021642474086282525,
-            0.01951726464355055,
-            0.016484009782838902,
-            0.0006193027731927514,
-            0.007127074977236243
-        ],
-        "std": [
-            0.19329323641914023,
-            0.13066538318869983,
-            0.14077612517009017,
-            0.11981061808301278,
-            0.08427656105602736,
-            0.35690762541476717
-        ],
-        "count": [
-            30315
-        ],
-        "q01": [
-            -0.37596616297482754,
-            -0.39577766831858135,
-            -0.360186539899255,
-            -0.3205811661146208,
-            -0.21006885840140013,
-            -0.7798145981816139
-        ],
-        "q10": [
-            -0.1962734321011303,
-            -0.15297725109269705,
-            -0.12728565382204016,
-            -0.10426113961716293,
-            -0.08461180790616453,
-            -0.34210986996669496
-        ],
-        "q50": [
-            -0.025074739941948015,
-            -0.010571858156265516,
-            0.01911975127904646,
-            0.013540396785546412,
-            0.004890164316431851,
-            0.0006095036803355915
-        ],
-        "q90": [
-            0.1959817292018707,
-            0.10224271831905664,
-            0.16983031989643121,
-            0.14882928343839888,
-            0.08089508556999417,
-            0.3942204252596058
-        ],
-        "q99": [
-            0.4898893015995497,
-            0.2149847878325568,
-            0.3703342130780474,
-            0.3046761163585514,
-            0.16982652615465962,
-            0.8100252637538653
-        ]
-    },
-    "telemetry.franka.motor_torques_external": {
-        "min": [
-            -7.673249244689941,
-            -8.274592399597168,
-            -8.692928314208984,
-            -5.310734748840332,
-            -3.0772786140441895,
-            -4.014791488647461,
-            -0.3672109544277191
-        ],
-        "max": [
-            6.162519931793213,
-            4.451272964477539,
-            6.2706451416015625,
-            9.775938034057617,
-            1.4735846519470215,
-            4.798173427581787,
-            1.2115098237991333
-        ],
-        "mean": [
-            -0.6256143869241386,
-            -1.2452841991142394,
-            -0.27199025918074776,
-            -0.1775431062471052,
-            0.05362893194301965,
-            0.040995744729578024,
-            0.11922329244284585
+            -0.010909732170707053,
+            -0.024849040360482418,
+            0.014864452941838486,
+            0.014525531940369138,
+            -0.0012453649566000142,
+            0.005930376182842521
         ],
         "std": [
-            1.2131495524827158,
-            1.2808711748573733,
-            1.0347088578259713,
-            1.1420968581947584,
-            0.4082559059388805,
-            0.4836996575653963,
-            0.20083717560653555
+            0.1905199748037393,
+            0.12926070985964874,
+            0.1408448824593188,
+            0.12208299821644338,
+            0.08575388209977264,
+            0.3604702777614984
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            -2.8537366112852833,
-            -3.452454976252006,
-            -2.170634383753111,
-            -2.1493413389608573,
-            -0.6217249838466059,
-            -0.747156962221508,
-            -0.1589014655523921
+            -0.3866679978774794,
+            -0.3881707088066756,
+            -0.35867304432711644,
+            -0.32287029958999125,
+            -0.21709291747181403,
+            -0.7847385874681477
         ],
         "q10": [
-            -1.813459241470748,
-            -2.526889426132946,
-            -1.2298611796955614,
-            -1.2139669397969195,
-            -0.38198383712353673,
-            -0.42231914935342396,
-            -0.08354316647010457
+            -0.19374856494018772,
+            -0.15711641306340823,
+            -0.13346815837646067,
+            -0.11008645378407607,
+            -0.0889709323751902,
+            -0.3534872042029921
         ],
         "q50": [
-            -0.5751899604001045,
-            -1.313070163077805,
-            -0.2679807716582861,
-            -0.12325827601445388,
-            0.05450661239922066,
-            0.012497140698807526,
-            0.10615253978550292
+            -0.022469790209631735,
+            -0.014240632589675874,
+            0.014901535566570675,
+            0.01091806743651934,
+            0.003198120788261252,
+            -0.0031471321063026303
         ],
         "q90": [
-            0.4704671566628349,
-            0.14866383157082652,
-            0.6713456912077264,
-            0.7815035070366876,
-            0.5049700675546602,
-            0.5541873146564389,
-            0.34404075860512406
+            0.19362904843857398,
+            0.09987088277045669,
+            0.1647198897250881,
+            0.15002431071125627,
+            0.08129573907407109,
+            0.40282972597386135
         ],
         "q99": [
-            1.1356333331656883,
-            1.2247851641436378,
-            1.3588910490972075,
-            1.542901111348257,
-            0.7576443191445632,
-            0.9359037440897747,
-            0.4782997455586467
+            0.4864544185543159,
+            0.21376131969116202,
+            0.369650646077382,
+            0.3116499569004052,
+            0.1693162901703955,
+            0.8116348642331878
         ]
     },
-    "reward": {
+    "index": {
         "min": [
             0.0
         ],
         "max": [
-            1.0
-        ],
-        "mean": [
-            0.0020451921488476538
-        ],
-        "std": [
-            0.045177531559047863
-        ],
-        "count": [
-            30315
-        ],
-        "q01": [
-            -6.860287622629062e-11
-        ],
-        "q10": [
-            -6.860174593435593e-11
-        ],
-        "q50": [
-            -6.859672241464622e-11
-        ],
-        "q90": [
-            -6.859169889493647e-11
-        ],
-        "q99": [
-            0.025527514588227516
-        ]
-    },
-    "action.gripper_velocity": {
-        "min": [
-            -2.4140970706939697
-        ],
-        "max": [
-            2.213773012161255
+            36235.0
         ],
         "mean": [
-            0.2644109505084153
+            18117.5
         ],
         "std": [
-            0.3490240139877835
+            10460.432173194373
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            -0.783343706392658
+            17893.74494946707
         ],
         "q10": [
-            -0.052605817977056386
+            17934.832111161188
         ],
         "q50": [
-            0.32775091040867427
+            18117.306265432155
         ],
         "q90": [
-            0.4705278404370477
+            18300.112633512614
         ],
         "q99": [
-            1.0668938897732794
+            18341.254966791028
         ]
     },
-    "action.gripper_position": {
+    "clip_left_oidx": {
         "min": [
             0.0
         ],
         "max": [
-            1.0
+            2.0
         ],
         "mean": [
-            0.7432424000824283
+            0.8596699414946462
         ],
         "std": [
-            0.4103525113739059
+            0.7528769132087745
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            4.9511874280065696e-05
+            0.8596699414946463
         ],
         "q10": [
-            0.07945035405300593
+            0.8596699414946497
         ],
         "q50": [
-            0.9288325569046697
+            0.8596699414946671
         ],
         "q90": [
-            0.999898585319591
+            0.8596699414946822
         ],
         "q99": [
-            0.9999911726060099
+            0.8596699414946858
         ]
     },
     "observation.images.side_1": {
@@ -555,409 +350,360 @@
         "mean": [
             [
                 [
-                    0.4170191135055335
+                    0.4173904048100662
                 ]
             ],
             [
                 [
-                    0.40572065019025555
+                    0.40610887644908483
                 ]
             ],
             [
                 [
-                    0.37697127047454915
+                    0.37733027120620966
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.29937249083743567
+                    0.29911605760627424
                 ]
             ],
             [
                 [
-                    0.2970059427107691
+                    0.2968857072780937
                 ]
             ],
             [
                 [
-                    0.29900922513449196
+                    0.29892931417163093
                 ]
             ]
         ],
         "count": [
-            582048000
+            695731200
         ],
         "q01": [
             [
                 [
-                    0.06995889964810384
+                    0.07007900361116386
                 ]
             ],
             [
                 [
-                    0.06455503711549287
+                    0.06449014594111904
                 ]
             ],
             [
                 [
-                    0.04112270228249217
+                    0.040808356571099914
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    0.17842126997743793
+                    0.17861036251857904
                 ]
             ],
             [
                 [
-                    0.17445044274430077
+                    0.17464583054006022
                 ]
             ],
             [
                 [
-                    0.14862698693376694
+                    0.14860027132993908
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.25047856391078765
+                    0.25107676664595246
                 ]
             ],
             [
                 [
-                    0.24626954679557353
+                    0.2468298066329644
                 ]
             ],
             [
                 [
-                    0.23059592979084412
+                    0.2310427143461855
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.9622024903340328
+                    0.9615074922332668
                 ]
             ],
             [
                 [
-                    0.9750700069650677
+                    0.9747397018187114
                 ]
             ],
             [
                 [
-                    0.9692455909396158
+                    0.9688527321714604
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.9999486208189277
+                    0.9999484741984349
                 ]
             ],
             [
                 [
-                    0.9999644756780104
+                    0.999964559907009
                 ]
             ],
             [
                 [
-                    0.9999491273902883
+                    0.9999479380818305
                 ]
             ]
         ]
     },
-    "action": {
+    "telemetry.franka.motor_torques_external": {
         "min": [
-            -0.8085143566131592,
-            -0.90827476978302,
-            -1.026308536529541,
-            -0.7536492943763733,
-            -0.5751551389694214,
-            -1.788225531578064,
-            -2.4140970706939697
+            -8.13603687286377,
+            -8.274592399597168,
+            -8.692928314208984,
+            -5.310734748840332,
+            -3.0772786140441895,
+            -4.014791488647461,
+            -0.3672109544277191
         ],
         "max": [
-            1.3156167268753052,
-            0.49648264050483704,
-            0.6294729113578796,
-            0.6076173186302185,
-            0.4934086203575134,
-            2.863708019256592,
-            2.213773012161255
+            6.162519931793213,
+            5.930891990661621,
+            6.2706451416015625,
+            9.775938034057617,
+            1.4735846519470215,
+            4.798173427581787,
+            1.2115098237991333
         ],
         "mean": [
-            -0.012065399759251676,
-            -0.021642474086282525,
-            0.01951726464355055,
-            0.016484009782838902,
-            0.0006193027731927514,
-            0.007127074977236243,
-            0.2644108115666999
+            -0.6529167570441655,
+            -1.1696556680131045,
+            -0.296743698458569,
+            -0.18231518945149058,
+            0.06534402867909724,
+            0.06235053107669819,
+            0.12131109671184709
         ],
         "std": [
-            0.19329323641914023,
-            0.13066538318869983,
-            0.14077612517009017,
-            0.11981061808301278,
-            0.08427656105602736,
-            0.35690762541476717,
-            0.3490240198019599
+            1.20786813749837,
+            1.3473490334007616,
+            1.0215732008767628,
+            1.1027267163771963,
+            0.41821273158776834,
+            0.48308559610606566,
+            0.20170410173523484
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            -0.37596616297482754,
-            -0.39577766831858135,
-            -0.360186539899255,
-            -0.3205811661146208,
-            -0.21006885840140013,
-            -0.7798145981816139,
-            -0.783343706392658
+            -2.9046557226264653,
+            -3.4107796794435874,
+            -2.23218461757008,
+            -2.176841583007052,
+            -0.6236291017230493,
+            -0.7447521323600477,
+            -0.15795421914325472
         ],
         "q10": [
-            -0.1962734321011303,
-            -0.15297725109269705,
-            -0.12728565382204016,
-            -0.10426113961716293,
-            -0.08461180790616453,
-            -0.34210986996669496,
-            -0.052605817977056386
+            -1.8563381187862118,
+            -2.4885172455653057,
+            -1.2632484720646595,
+            -1.229855044951218,
+            -0.3751140237934738,
+            -0.4117121582432485,
+            -0.07879789256201448
         ],
         "q50": [
-            -0.025074739941948015,
-            -0.010571858156265516,
-            0.01911975127904646,
-            0.013540396785546412,
-            0.004890164316431851,
-            0.0006095036803355915,
-            0.32775091040867427
+            -0.5922566717368217,
+            -1.2608687066455389,
+            -0.27189793374859295,
+            -0.10892911416583062,
+            0.06254631937326025,
+            0.039037343532743705,
+            0.10341282936126961
         ],
         "q90": [
-            0.1959817292018707,
-            0.10224271831905664,
-            0.16983031989643121,
-            0.14882928343839888,
-            0.08089508556999417,
-            0.3942204252596058,
-            0.4705278404370477
+            0.43670985034247495,
+            0.29327258149000324,
+            0.6230320891150426,
+            0.7482078171382366,
+            0.5255757881064216,
+            0.5712439908664007,
+            0.354132320952973
         ],
         "q99": [
-            0.4898893015995497,
-            0.2149847878325568,
-            0.3703342130780474,
-            0.3046761163585514,
-            0.16982652615465962,
-            0.8100252637538653,
-            1.0668938897732794
+            1.1231172099647884,
+            1.387649557243707,
+            1.295268910171052,
+            1.5083571395368622,
+            0.7677709851116695,
+            0.9545011344707908,
+            0.4812108304929107
         ]
     },
-    "observation.images.wrist_right": {
+    "observation.state.cartesian_position": {
         "min": [
-            [
-                [
-                    0.0
-                ]
-            ],
-            [
-                [
-                    0.0
-                ]
-            ],
-            [
-                [
-                    0.0
-                ]
-            ]
+            0.2704809606075287,
+            -0.48879191279411316,
+            0.1657569855451584,
+            -3.1415905952453613,
+            -0.6927976012229919,
+            -3.1409735679626465
         ],
         "max": [
-            [
-                [
-                    1.0
-                ]
-            ],
-            [
-                [
-                    1.0
-                ]
-            ],
-            [
-                [
-                    1.0
-                ]
-            ]
+            0.7848861813545227,
+            0.3563217222690582,
+            0.48671817779541016,
+            3.141589641571045,
+            0.6079015135765076,
+            3.1413233280181885
         ],
         "mean": [
-            [
-                [
-                    0.3071942065663804
-                ]
-            ],
-            [
-                [
-                    0.30262494201454093
-                ]
-            ],
-            [
-                [
-                    0.2945087193076256
-                ]
-            ]
+            0.5309011090445271,
+            -0.039630716431722994,
+            0.23647763489819887,
+            -0.6821417206400132,
+            0.17245596457942142,
+            0.5523846170861196
         ],
         "std": [
-            [
-                [
-                    0.1830737362631267
-                ]
-            ],
-            [
-                [
-                    0.1756436713631205
-                ]
-            ],
-            [
-                [
-                    0.18071820504432257
-                ]
-            ]
+            0.1141605952578096,
+            0.15257698349187915,
+            0.05478694260458859,
+            2.95994810795644,
+            0.1799893703650882,
+            1.5002145709628896
         ],
         "count": [
-            582048000
+            36236
         ],
         "q01": [
-            [
-                [
-                    0.006141584312929868
-                ]
-            ],
-            [
-                [
-                    0.005700215903228293
-                ]
-            ],
-            [
-                [
-                    0.00020388623710032984
-                ]
-            ]
+            0.37252954306059904,
+            -0.17671013399641103,
+            0.19607136591746557,
+            -3.010187507656973,
+            -0.09865623359828651,
+            -0.6202747105194225
         ],
         "q10": [
-            [
-                [
-                    0.06820540679974667
-                ]
-            ],
-            [
-                [
-                    0.06669522490066614
-                ]
-            ],
-            [
-                [
-                    0.05247406679860531
-                ]
-            ]
+            0.4585983291640955,
+            -0.1415949000913564,
+            0.20571530171034644,
+            -2.519750752919869,
+            0.016193501260349734,
+            -0.0350989111677927
         ],
         "q50": [
-            [
-                [
-                    0.29549130020687275
-                ]
-            ],
-            [
-                [
-                    0.295337282940923
-                ]
-            ],
-            [
-                [
-                    0.2860978613849445
-                ]
-            ]
+            0.5368292016886694,
+            -0.05851381366879335,
+            0.22233885319952074,
+            -1.1174558219855772,
+            0.1751697063510775,
+            0.56470893048824
         ],
         "q90": [
-            [
-                [
-                    0.5141932759627997
-                ]
-            ],
-            [
-                [
-                    0.5025398487320355
-                ]
-            ],
-            [
-                [
-                    0.5013893571162736
-                ]
-            ]
+            0.5982914737346624,
+            0.09077770871633445,
+            0.27627244274112217,
+            1.945746678493476,
+            0.3265609701391263,
+            1.1143750154863408
         ],
         "q99": [
-            [
-                [
-                    0.9801263819542353
-                ]
-            ],
-            [
-                [
-                    0.9560909970083371
-                ]
-            ],
-            [
-                [
-                    0.9351223449278333
-                ]
-            ]
+            0.6264098681871293,
+            0.11327638470652825,
+            0.47097726125186135,
+            2.985610862323312,
+            0.3640603042797676,
+            1.480867797700783
         ]
     },
-    "clip_right_y": {
+    "manifest_idx": {
         "min": [
-            -0.24130000174045563
+            0.0
+        ],
+        "max": [
+            11.0
+        ],
+        "mean": [
+            5.545120874268684
+        ],
+        "std": [
+            3.3297175841274815
+        ],
+        "count": [
+            36236
+        ],
+        "q01": [
+            5.545120874268684
+        ],
+        "q10": [
+            5.545120874268684
+        ],
+        "q50": [
+            5.5451208742687
+        ],
+        "q90": [
+            5.545120874268719
+        ],
+        "q99": [
+            5.545120874268721
+        ]
+    },
+    "clip_right_x": {
+        "min": [
+            -0.16509999334812164
         ],
         "max": [
-            -0.038100000470876694
+            0.24130000174045563
         ],
         "mean": [
-            -0.12590448019450673
+            0.042584045051677975
         ],
         "std": [
-            0.06993119278958879
+            0.12778989024700527
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            -0.1259044867895545
+            0.04258404478222294
         ],
         "q10": [
-            -0.12590448678955074
+            0.04258404478222655
         ],
         "q50": [
-            -0.12590448678953478
+            0.04258404478224256
         ],
         "q90": [
-            -0.12590448678951874
+            0.042584044782258565
         ],
         "q99": [
-            -0.12590448678951516
+            0.042584044782262166
         ]
     },
     "action.cartesian_position": {
         "min": [
             0.24021850526332855,
             -0.4975392818450928,
-            0.16682106256484985,
+            0.15818385779857635,
             -3.1415865421295166,
-            -0.5979043245315552,
+            -0.7054058909416199,
             -3.140652894973755
         ],
         "max": [
@@ -969,66 +715,239 @@
             3.140306234359741
         ],
         "mean": [
-            0.5357344262418666,
-            -0.04258425225412039,
-            0.2380921850424876,
-            -0.5320007061748914,
-            0.17604404503790497,
-            0.5553787537972248
+            0.530556729268799,
+            -0.04165396301574632,
+            0.2368672555258027,
+            -0.6362410132719863,
+            0.1708259007469092,
+            0.5531274760986006
         ],
         "std": [
-            0.11789723415063796,
-            0.15688936534419518,
-            0.04867634516110139,
-            2.9882651110815304,
-            0.16939444397588674,
-            1.5103115577901796
+            0.11476534559720693,
+            0.15299887996059158,
+            0.04912807754198538,
+            2.9691200578998043,
+            0.18241677662468084,
+            1.5147957390479143
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            0.3859942599869768,
-            -0.18414114937984438,
-            0.19684126471659558,
-            -3.009543279478041,
-            -0.07191248379341796,
-            -0.6398670054065356
+            0.3906858709748393,
+            -0.18244169634151405,
+            0.19562719554041963,
+            -3.0302354713756317,
+            -0.10077857716154201,
+            -0.6085955108300285
         ],
         "q10": [
-            0.4571187130214277,
-            -0.14354888057322324,
-            0.20781697876582758,
-            -2.533247045468608,
-            0.0394309734548751,
-            0.002382327755020437
+            0.4584449024750874,
+            -0.14343978688657127,
+            0.20586647549082762,
+            -2.5169723677970492,
+            0.01286017733618933,
+            -0.016918870850240048
         ],
         "q50": [
-            0.542038686133089,
-            -0.06345548044809508,
-            0.2268075954411514,
-            -0.9823117921322163,
-            0.17255370503504086,
-            0.5621645980991082
+            0.5342387302227647,
+            -0.06188408596600727,
+            0.22548187766330882,
+            -1.0892113726841497,
+            0.17359827712086665,
+            0.561049062098692
         ],
         "q90": [
-            0.6064322988471929,
-            0.08643726665805923,
-            0.27189329336386037,
-            2.3704281090380386,
-            0.3283095519139757,
-            1.0907444711657803
+            0.5994520598311924,
+            0.08903455743198758,
+            0.27232219513504446,
+            2.0604027408358467,
+            0.32723861423355494,
+            1.1094289576553484
         ],
         "q99": [
-            0.6390252119562617,
-            0.11075302738586403,
-            0.4498309046163201,
-            3.005822266985248,
-            0.375625632154159,
-            1.427701212884027
+            0.6317587677910067,
+            0.11305410019546093,
+            0.44868958641546874,
+            3.0061124420656293,
+            0.37249412997743797,
+            1.4501866427495915
         ]
     },
-    "observation.images.wrist_left": {
+    "telemetry.franka.ee_wrench": {
+        "min": [
+            -20.090999603271484,
+            -11.243191719055176,
+            -15.003057479858398,
+            -4.32020902633667,
+            -10.482766151428223,
+            -7.859080791473389
+        ],
+        "max": [
+            15.228537559509277,
+            12.562166213989258,
+            13.263720512390137,
+            4.290520191192627,
+            4.829357147216797,
+            6.058136940002441
+        ],
+        "mean": [
+            -3.7848244080389293,
+            -0.5266154489645167,
+            2.1712282124714744,
+            0.15526644023639258,
+            -2.3908838472996394,
+            -0.533437195502044
+        ],
+        "std": [
+            3.272094935284793,
+            2.550259078469207,
+            2.964079005535922,
+            1.066346566162922,
+            1.8533811275152103,
+            1.1323842336254597
+        ],
+        "count": [
+            36236
+        ],
+        "q01": [
+            -8.771233486517694,
+            -4.593478391029084,
+            -3.3204706841392406,
+            -1.4558564198745958,
+            -5.506511643376642,
+            -2.6539273287167267
+        ],
+        "q10": [
+            -6.687967772221687,
+            -2.864614274754956,
+            -0.9342638667442714,
+            -0.7983832097008758,
+            -4.211864417777211,
+            -1.637401550026093
+        ],
+        "q50": [
+            -3.7787634226646634,
+            -0.45151164131268323,
+            2.2958990980643335,
+            0.07981953677323718,
+            -2.4198821340260968,
+            -0.4665000683594168
+        ],
+        "q90": [
+            -0.9073591025191534,
+            1.7104578582033254,
+            5.105955829873514,
+            1.20276047045743,
+            -0.5561370601241667,
+            0.44122953061685977
+        ],
+        "q99": [
+            1.4496009061987636,
+            3.0947639397004534,
+            6.9733972320805355,
+            1.7874698956603532,
+            0.97892854933823,
+            1.0942849294922825
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            56.666666666666664
+        ],
+        "mean": [
+            15.186911726827843
+        ],
+        "std": [
+            12.301543833534577
+        ],
+        "count": [
+            36236
+        ],
+        "q01": [
+            0.26990835787352147
+        ],
+        "q10": [
+            3.0090524708326503
+        ],
+        "q50": [
+            15.17160036023094
+        ],
+        "q90": [
+            27.36108729440998
+        ],
+        "q99": [
+            30.103909512987865
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            107.0
+        ],
+        "mean": [
+            53.805524892372226
+        ],
+        "std": [
+            29.977039146276365
+        ],
+        "count": [
+            36236
+        ],
+        "q01": [
+            53.805524892372226
+        ],
+        "q10": [
+            53.805524892372226
+        ],
+        "q50": [
+            53.80552489237224
+        ],
+        "q90": [
+            53.80552489237226
+        ],
+        "q99": [
+            53.80552489237226
+        ]
+    },
+    "reward": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            1.0
+        ],
+        "mean": [
+            0.002124958600207942
+        ],
+        "std": [
+            0.0460482700331305
+        ],
+        "count": [
+            36236
+        ],
+        "q01": [
+            -6.852840927254666e-11
+        ],
+        "q10": [
+            -6.852727629981237e-11
+        ],
+        "q50": [
+            -6.85222408654377e-11
+        ],
+        "q90": [
+            -6.851720543106302e-11
+        ],
+        "q99": [
+            0.021356292204953418
+        ]
+    },
+    "observation.images.wrist_right": {
         "min": [
             [
                 [
@@ -1066,897 +985,798 @@
         "mean": [
             [
                 [
-                    0.3137762262770863
+                    0.30681460393354815
                 ]
             ],
             [
                 [
-                    0.30643417401005485
+                    0.3022257310854096
                 ]
             ],
             [
                 [
-                    0.29703359392517853
+                    0.2946010881987401
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.18587099896462334
+                    0.18338093578130035
                 ]
             ],
             [
                 [
-                    0.17655256532992922
+                    0.17603312807644658
                 ]
             ],
             [
                 [
-                    0.18026471854412868
+                    0.1809858138617281
                 ]
             ]
         ],
         "count": [
-            582048000
+            695731200
         ],
         "q01": [
             [
                 [
-                    0.018234050526107968
+                    0.0059783756046462725
                 ]
             ],
             [
                 [
-                    0.01451295624655672
+                    0.0056537370905612745
                 ]
             ],
             [
                 [
-                    0.007757780197063331
+                    0.0001705709984336785
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    0.0785881857238837
+                    0.06728634442523485
                 ]
             ],
             [
                 [
-                    0.07491533953954654
+                    0.06586010077427486
                 ]
             ],
             [
                 [
-                    0.0649629467662945
+                    0.05250511473623949
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.2918150527299183
+                    0.29482617266492417
                 ]
             ],
             [
                 [
-                    0.2903648629992976
+                    0.2946835991462942
                 ]
             ],
             [
                 [
-                    0.27702874589950965
+                    0.28582253167153254
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.5248268127133804
+                    0.512937037075623
                 ]
             ],
             [
                 [
-                    0.5081274063206077
+                    0.5015948135065094
                 ]
             ],
             [
                 [
-                    0.5061859416144352
+                    0.5011044078652639
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.9807701025030527
+                    0.9791059400622528
                 ]
             ],
             [
                 [
-                    0.9609310619694598
+                    0.9558935154960434
                 ]
             ],
             [
                 [
-                    0.9459489184506411
+                    0.934054719187396
                 ]
             ]
         ]
     },
-    "episode_index": {
+    "clip_left_yaw": {
         "min": [
-            0.0
+            -2.356194496154785
         ],
         "max": [
-            89.0
+            -0.7853981852531433
         ],
         "mean": [
-            45.300313376216394
+            -1.4605813250365096
         ],
         "std": [
-            25.037012316117067
+            0.5913082393166076
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            45.300313376216394
+            -1.460581383922332
         ],
         "q10": [
-            45.300313376216394
+            -1.4605813839223298
         ],
         "q50": [
-            45.3003133762164
+            -1.4605813839223125
         ],
         "q90": [
-            45.30031337621643
+            -1.4605813839222956
         ],
         "q99": [
-            45.30031337621643
+            -1.4605813839222916
         ]
     },
-    "action.joint_velocity": {
+    "rope_x": {
         "min": [
-            -1.0,
-            -0.7178545594215393,
-            -0.9246703386306763,
-            -0.8990969657897949,
-            -0.792085587978363,
-            -0.9545109272003174,
-            -0.7847610712051392
+            -0.12729115784168243
         ],
         "max": [
-            0.9599047303199768,
-            1.0,
-            0.9999811053276062,
-            0.916752815246582,
-            0.645453691482544,
-            0.8702683448791504,
-            0.8327429890632629
+            0.22574137151241302
         ],
         "mean": [
-            -0.024911370048922386,
-            -0.010880695958747574,
-            0.011128861520940588,
-            -0.011597281352681512,
-            0.0015897476353672437,
-            0.004587118645019804,
-            -0.017660467908690802
+            0.048774054904474215
         ],
         "std": [
-            0.08968085998915867,
-            0.20616104248338188,
-            0.07397700913022819,
-            0.2057943311171352,
-            0.1314049508580667,
-            0.13656795424167315,
-            0.21856222224800434
+            0.11588657609998498
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            -0.23917024127036188,
-            -0.4210938827433788,
-            -0.15095629540165997,
-            -0.4313159069739604,
-            -0.36846933891972156,
-            -0.27854355319150936,
-            -0.522343995372801
+            0.04877405253879808
         ],
         "q10": [
-            -0.11720790733208694,
-            -0.22725119016424197,
-            -0.05412054260814572,
-            -0.21575302174086156,
-            -0.13366886441160275,
-            -0.1425251915865759,
-            -0.25993830876781043
+            0.04877405253880165
         ],
         "q50": [
-            -0.01961217599799466,
-            -0.019796602554850162,
-            0.009306699332163678,
-            -0.018547265376942897,
-            0.004202902113865328,
-            -0.0002535694523101956,
-            -0.007310836216858293
+            0.048774052538817655
         ],
         "q90": [
-            0.05391650592977226,
-            0.21694719777152052,
-            0.08174633910428768,
-            0.2142353288183231,
-            0.13827977513272202,
-            0.15545894638765462,
-            0.20595499965694977
+            0.048774052538833663
         ],
         "q99": [
-            0.15775567243412372,
-            0.5514320079895161,
-            0.17925565491398907,
-            0.4690352475549125,
-            0.30803016954978013,
-            0.3653887899723794,
-            0.45139452561778903
+            0.048774052538837306
         ]
     },
-    "clip_right_x": {
+    "round_id": {
         "min": [
-            -0.16509999334812164
+            1.0
         ],
         "max": [
-            0.24130000174045563
+            12.0
         ],
         "mean": [
-            0.043679371028868215
+            6.545120874268684
         ],
         "std": [
-            0.13414552820382408
+            3.3297175841274798
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            0.043679371917703325
+            6.545120874268684
         ],
         "q10": [
-            0.04367937191770692
+            6.545120874268684
         ],
         "q50": [
-            0.043679371917722934
+            6.5451208742687
         ],
         "q90": [
-            0.043679371917738935
+            6.545120874268716
         ],
         "q99": [
-            0.04367937191774255
+            6.545120874268723
         ]
     },
-    "is_valid": {
+    "observation.state": {
         "min": [
+            0.2704809606075287,
+            -0.48879191279411316,
+            0.1657569855451584,
+            -3.1415905952453613,
+            -0.6927976012229919,
+            -3.1409735679626465,
             0.0
         ],
         "max": [
-            1.0
+            0.7848861813545227,
+            0.3563217222690582,
+            0.48671817779541016,
+            3.141589641571045,
+            0.6079015135765076,
+            3.1413233280181885,
+            0.9955947399139404
         ],
         "mean": [
-            0.9970311726867888
+            0.5309011090445271,
+            -0.039630716431722994,
+            0.23647763489819887,
+            -0.6821417206400132,
+            0.17245596457942142,
+            0.5523846170861196,
+            0.6680198922187489
         ],
         "std": [
-            0.054406004977351555
+            0.1141605952578096,
+            0.15257698349187915,
+            0.05478694260458859,
+            2.95994810795644,
+            0.1799893703650882,
+            1.5002145709628896,
+            0.382038230301516
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            0.9937989831595905
+            0.37252954306059904,
+            -0.17671013399641103,
+            0.19607136591746557,
+            -3.010187507656973,
+            -0.09865623359828651,
+            -0.6202747105194225,
+            -1.0000000000000002e-10
         ],
         "q10": [
-            0.999819463463804
+            0.4585983291640955,
+            -0.1415949000913564,
+            0.20571530171034644,
+            -2.519750752919869,
+            0.016193501260349734,
+            -0.0350989111677927,
+            0.06692511127231551
         ],
         "q50": [
-            0.9998997019687801
+            0.5368292016886694,
+            -0.05851381366879335,
+            0.22233885319952074,
+            -1.1174558219855772,
+            0.1751697063510775,
+            0.56470893048824,
+            0.8403642109793356
         ],
         "q90": [
-            0.999979940473756
+            0.5982914737346624,
+            0.09077770871633445,
+            0.27627244274112217,
+            1.945746678493476,
+            0.3265609701391263,
+            1.1143750154863408,
+            0.916338208376312
         ],
         "q99": [
-            0.9999979941373757
+            0.6264098681871293,
+            0.11327638470652825,
+            0.47097726125186135,
+            2.985610862323312,
+            0.3640603042797676,
+            1.480867797700783,
+            0.9182293495733014
         ]
     },
-    "source": {
+    "frame_index": {
         "min": [
             0.0
         ],
         "max": [
-            0.0
+            850.0
         ],
         "mean": [
-            0.0
+            227.8036759024175
         ],
         "std": [
-            0.0
+            184.52315750301855
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            3.9999999999994196e-16
+            4.048625369478924
         ],
         "q10": [
-            3.999999999999419e-15
+            45.135787063613314
         ],
         "q50": [
-            1.999999999999708e-14
+            227.57566102770713
         ],
         "q90": [
-            3.5999999999994735e-14
+            410.41630941502666
         ],
         "q99": [
-            3.959999999999422e-14
+            451.55864269344204
         ]
     },
-    "telemetry.franka.motor_torques_measured": {
+    "intervention": {
         "min": [
-            -9.489714622497559,
-            -62.928375244140625,
-            -12.108169555664062,
-            6.6570916175842285,
-            -2.2504847049713135,
-            -2.812321186065674,
-            -0.3910229206085205
+            0.0
         ],
         "max": [
-            7.811615943908691,
-            1.0163275003433228,
-            21.903366088867188,
-            30.93687629699707,
-            2.2548253536224365,
-            7.084529399871826,
-            1.2120654582977295
+            0.0
         ],
         "mean": [
-            -0.6101244813636494,
-            -37.94257794153211,
-            -0.004860997277407356,
-            19.008179555386775,
-            0.5542488678988746,
-            2.044097390737978,
-            0.11730675103780175
+            0.0
         ],
         "std": [
-            1.2700711874772401,
-            10.977350434693909,
-            2.5793614981108655,
-            2.735033618375342,
-            0.4224073138196684,
-            0.6443348457714985,
-            0.20416134652962561
+            0.0
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            -3.217682857303883,
-            -47.59404508190672,
-            -3.2582273005655704,
-            15.269910795438085,
-            -0.16054948232513053,
-            1.055309442138941,
-            -0.17743054672274647
+            3.999999999999419e-16
         ],
         "q10": [
-            -1.8525896367962005,
-            -44.7063546559389,
-            -1.874892986445695,
-            16.757791328864858,
-            0.10662852861365112,
-            1.435678606896262,
-            -0.08808850900608536
+            3.999999999999419e-15
         ],
         "q50": [
-            -0.5659695011759778,
-            -39.256445167521065,
-            -0.12370882637657525,
-            18.932127600569157,
-            0.5535483354311622,
-            2.0135453317923226,
-            0.10423822663955216
+            1.999999999999708e-14
         ],
         "q90": [
-            0.5255586978623864,
-            -29.958629546957404,
-            2.2066346299630304,
-            21.33574037135763,
-            1.0135510244936905,
-            2.7119025549104783,
-            0.34648074846813803
+            3.5999999999994735e-14
         ],
         "q99": [
-            1.6375044822760239,
-            -13.20819214146317,
-            3.526573794568157,
-            23.960840002311706,
-            1.2886858144535436,
-            3.1997622396623266,
-            0.4880076481686802
+            3.959999999999423e-14
         ]
     },
-    "manifest_idx": {
+    "clip_right_oidx": {
         "min": [
             0.0
         ],
         "max": [
-            9.0
+            2.0
         ],
         "mean": [
-            4.590070921985816
+            0.9752180152334698
         ],
         "std": [
-            2.7608679667191374
+            0.7777281473923028
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            4.590070921985816
+            0.9752180152334698
         ],
         "q10": [
-            4.590070921985817
+            0.9752180152334723
         ],
         "q50": [
-            4.590070921985832
+            0.9752180152334904
         ],
         "q90": [
-            4.590070921985852
+            0.9752180152335058
         ],
         "q99": [
-            4.590070921985855
+            0.9752180152335096
         ]
     },
-    "intervention": {
+    "clip_left_x": {
         "min": [
-            0.0
+            -0.16509999334812164
         ],
         "max": [
-            0.0
+            0.24130000174045563
         ],
         "mean": [
-            0.0
+            0.05227972623959055
         ],
         "std": [
-            0.0
+            0.13459333616193023
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            3.9999999999994196e-16
+            0.05227972901854893
         ],
         "q10": [
-            3.999999999999419e-15
+            0.052279729018552545
         ],
         "q50": [
-            1.999999999999708e-14
+            0.05227972901856855
         ],
         "q90": [
-            3.5999999999994735e-14
+            0.052279729018584555
         ],
         "q99": [
-            3.959999999999422e-14
+            0.05227972901858817
         ]
     },
-    "clip_left_x": {
+    "observation.state.gripper_position": {
         "min": [
-            -0.16509999334812164
+            0.0
         ],
         "max": [
-            0.24130000174045563
+            0.9955947399139404
         ],
         "mean": [
-            0.05138022282567724
+            0.6680199228352973
         ],
         "std": [
-            0.1454411877682962
+            0.38203820738624317
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            0.05138022652761959
+            -1.0000000000000002e-10
         ],
         "q10": [
-            0.05138022652762319
+            0.06692511127231551
         ],
         "q50": [
-            0.051380226527639204
+            0.8403642109793356
         ],
         "q90": [
-            0.051380226527655205
+            0.916338208376312
         ],
         "q99": [
-            0.051380226527658834
+            0.9182293495733014
         ]
     },
-    "telemetry.franka.ee_wrench": {
+    "policy_id": {
         "min": [
-            -20.090999603271484,
-            -11.243191719055176,
-            -15.003057479858398,
-            -4.32020902633667,
-            -10.482766151428223,
-            -7.859080791473389
+            0.0
         ],
         "max": [
-            15.228537559509277,
-            12.562166213989258,
-            13.263720512390137,
-            4.144583702087402,
-            4.829357147216797,
-            6.058136940002441
+            8.0
         ],
         "mean": [
-            -3.9370200348749784,
-            -0.4876933524704907,
-            2.3853316088881265,
-            0.1266562330618945,
-            -2.506755326251553,
-            -0.5104861270183811
+            4.500303565514957
         ],
         "std": [
-            3.328646766160357,
-            2.5812037270549038,
-            2.670397538314369,
-            1.0737880781614053,
-            1.7669836242370305,
-            1.1483613455499957
+            2.529803565201652
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            -8.891471508647397,
-            -4.541141060333052,
-            -2.9094597352200275,
-            -1.436382954702575,
-            -5.512906334595769,
-            -2.6127475518083236
+            4.500303565514957
         ],
         "q10": [
-            -6.839932167191547,
-            -2.8393291731564436,
-            -0.5730606655044317,
-            -0.789052659209212,
-            -4.253838694702224,
-            -1.6079026851351028
+            4.500303565514957
         ],
         "q50": [
-            -3.941806211958326,
-            -0.4167624951452306,
-            2.492363668958106,
-            0.04532731400348916,
-            -2.537047074230795,
-            -0.4602138922613261
+            4.5003035655149715
         ],
         "q90": [
-            -1.0075687032166802,
-            1.7643058637382554,
-            5.207553372582338,
-            1.1644795103870613,
-            -0.7409398334005488,
-            0.4888165809924179
+            4.500303565514989
         ],
         "q99": [
-            1.3517919712312303,
-            3.102886293092338,
-            7.04292893716452,
-            1.7431111080645805,
-            0.8124572444821465,
-            1.156171741034273
+            4.500303565514997
         ]
     },
-    "observation.state.joint_velocity": {
+    "action.gripper_position": {
         "min": [
-            -0.9974589347839355,
-            -0.41255855560302734,
-            -1.0037033557891846,
-            -0.6043317317962646,
-            -0.8022863268852234,
-            -0.605728805065155,
-            -0.9002301692962646
+            0.0
         ],
         "max": [
-            1.0285422801971436,
-            0.9193381071090698,
-            1.0767524242401123,
-            0.7356977462768555,
-            0.7062408924102783,
-            0.8228328227996826,
-            0.986279308795929
+            1.0
         ],
         "mean": [
-            -0.005191677313177559,
-            0.03996859971580112,
-            0.0005718756582122411,
-            0.021188842898643943,
-            -0.0003901626756936655,
-            0.010587916086127871,
-            -0.024576129968276652
+            0.7347344141731081
         ],
         "std": [
-            0.06004585133196805,
-            0.1316326820106052,
-            0.058007372443090434,
-            0.11141606244416008,
-            0.10183976887950294,
-            0.09066820058586202,
-            0.17344533644551094
+            0.4152324721514953
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            -0.19122137528926378,
-            -0.17949430832326843,
-            -0.1515733815742848,
-            -0.21804628639419743,
-            -0.35866512062533223,
-            -0.17575928718879788,
-            -0.5142331073999252
+            4.142156630699282e-05
         ],
         "q10": [
-            -0.04076737457452263,
-            -0.04429781310230297,
-            -0.03382594974615767,
-            -0.05609646626333913,
-            -0.06021404319078502,
-            -0.044401127073541095,
-            -0.20082232528157978
+            0.084809432760648
         ],
         "q50": [
-            0.0002031556414637824,
-            0.008211477549346397,
-            0.0008089798061403402,
-            0.005660211414849324,
-            7.81911638399466e-06,
-            0.00010431231716723853,
-            -0.00463789066769763
+            0.9183900690017026
         ],
         "q90": [
-            0.02702193578611763,
-            0.1796194597199315,
-            0.0370316209821934,
-            0.12661366745182986,
-            0.06804485367506183,
-            0.06922561950215346,
-            0.10833179745193511
+            0.9999031879225171
         ],
         "q99": [
-            0.11325297786486073,
-            0.484552757287596,
-            0.13919743232125084,
-            0.35350164035961645,
-            0.28744884545357413,
-            0.36878505443465653,
-            0.37742645189159374
+            0.9999914181599454
         ]
     },
-    "steps_to_go": {
+    "clip_right_y": {
         "min": [
-            0.0
+            -0.24130000174045563
         ],
         "max": [
-            850.0
+            -0.01269999984651804
         ],
         "mean": [
-            225.98918027379185
+            -0.11913381586240326
         ],
         "std": [
-            182.27433477400464
+            0.07052438187407858
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            4.023102021079354
+            -0.11913382276278986
         ],
         "q10": [
-            44.76785696973668
+            -0.11913382276278607
         ],
         "q50": [
-            225.76613873659892
+            -0.11913382276277015
         ],
         "q90": [
-            407.16616631906425
+            -0.1191338227627541
         ],
         "q99": [
-            447.9551584284672
+            -0.11913382276275047
         ]
     },
-    "round_id": {
+    "is_valid": {
         "min": [
-            1.0
+            0.0
         ],
         "max": [
-            10.0
+            1.0
         ],
         "mean": [
-            5.590070921985817
+            0.9970195385804173
         ],
         "std": [
-            2.760867966719136
+            0.05451218459490595
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            5.590070921985817
+            0.9947797835571296
         ],
         "q10": [
-            5.590070921985817
+            0.999819461332981
         ],
         "q50": [
-            5.590070921985834
+            0.9998997007849899
         ],
         "q90": [
-            5.590070921985851
+            0.999979940236998
         ],
         "q99": [
-            5.5900709219858555
+            0.9999979941137005
         ]
     },
-    "telemetry.franka.joint_torques_computed": {
+    "action.gripper_velocity": {
         "min": [
-            -11.54956340789795,
-            -9.929981231689453,
-            -9.531953811645508,
-            -6.364743709564209,
-            -5.641271591186523,
-            -4.29677152633667,
-            -2.38073992729187
+            -2.4140970706939697
         ],
         "max": [
-            7.926870822906494,
-            12.5318021774292,
-            6.670920372009277,
-            10.342308044433594,
-            3.160402774810791,
-            4.716380596160889,
-            2.517413854598999
+            2.213773012161255
         ],
         "mean": [
-            -0.5590802754000085,
-            -1.0778844316945448,
-            -0.2383700440143151,
-            0.07322269334747672,
-            0.055890618433781694,
-            0.020670953324604082,
-            0.06675685865421455
+            0.25849040072727525
         ],
         "std": [
-            1.4636074412338174,
-            1.682186753920663,
-            1.2099405240053789,
-            1.4194493644973103,
-            0.5930694704931347,
-            0.5894479804261882,
-            0.34049053523422335
+            0.3482117788265335
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            -3.6397108951508357,
-            -4.860746299214577,
-            -2.7496704941301195,
-            -2.3920474408797703,
-            -0.9957695373318917,
-            -1.0423146824860139,
-            -0.46662974099488674
+            -0.7866386565006365
         ],
         "q10": [
-            -2.103571521995713,
-            -3.0700082888851066,
-            -1.4682949079029404,
-            -1.3129244780244673,
-            -0.6229144815354888,
-            -0.6310435073194216,
-            -0.28805103240107943
+            -0.048848991038542046
         ],
         "q50": [
-            -0.4948714641181364,
-            -0.9643669872021662,
-            -0.22665228051886546,
-            0.04971842426075292,
-            0.0495726069006074,
-            -0.0049927938097246724,
-            0.04394224555699934
+            0.32653470759681746
         ],
         "q90": [
-            0.8580155641818976,
-            0.6852424700731788,
-            0.9738584958116588,
-            1.4900129822316528,
-            0.7616231370454973,
-            0.7182705773304581,
-            0.4609312502677049
+            0.46097312026265713
         ],
         "q99": [
-            1.9845685089138387,
-            2.179440416564761,
-            2.025983110920983,
-            2.6429157525635456,
-            1.1552911117863682,
-            1.183957910002126,
-            0.7026719088533482
+            1.0646515734020368
         ]
     },
-    "frame_index": {
+    "action.joint_velocity": {
         "min": [
-            0.0
+            -1.0,
+            -0.7221252918243408,
+            -0.9246703386306763,
+            -0.9447919726371765,
+            -0.8983057737350464,
+            -0.9545109272003174,
+            -0.872229814529419
         ],
         "max": [
-            850.0
+            0.9599047303199768,
+            1.0,
+            1.0,
+            0.916752815246582,
+            0.7566092014312744,
+            0.8702683448791504,
+            0.8327429890632629
         ],
         "mean": [
-            225.98918027379185
+            -0.02647676970852267,
+            -0.008034667720038129,
+            0.011520816393619206,
+            -0.011774600776796432,
+            0.003944645624527984,
+            0.010018468247527985,
+            -0.021222557673449327
         ],
         "std": [
-            182.27433477400464
+            0.08956192683112585,
+            0.20638667378756684,
+            0.07399807907221874,
+            0.20419090913974394,
+            0.134925151787954,
+            0.13761435934250324,
+            0.2207312060133348
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            4.023102021079354
+            -0.24121607332303283,
+            -0.43445786239812145,
+            -0.15360938312741354,
+            -0.4472160020359771,
+            -0.3697402975728044,
+            -0.27063368977910984,
+            -0.5234522555039557
         ],
         "q10": [
-            44.76785696973668
+            -0.11959944422945476,
+            -0.22492200706284007,
+            -0.054388266477392644,
+            -0.21730615770667527,
+            -0.1370354901413884,
+            -0.1368277919717844,
+            -0.2666520900680581
         ],
         "q50": [
-            225.76613873659892
+            -0.02127982268159511,
+            -0.016928689414287053,
+            0.010115398158651005,
+            -0.0171822942241255,
+            0.006444286766437637,
+            0.0033873109622917703,
+            -0.01218805367837549
         ],
         "q90": [
-            407.16616631906425
+            0.05431184838651606,
+            0.21963775427615076,
+            0.08167325750904592,
+            0.21247401513800473,
+            0.14530751819329554,
+            0.1631456071621817,
+            0.2076884490461252
         ],
         "q99": [
-            447.9551584284672
+            0.15952140301603798,
+            0.5547772128770853,
+            0.1856748401289042,
+            0.45703626229786265,
+            0.3107128528423339,
+            0.3722768227433735,
+            0.45946598373711617
         ]
     },
-    "timestamp": {
+    "action": {
         "min": [
-            0.0
+            -0.8085143566131592,
+            -0.90827476978302,
+            -1.026308536529541,
+            -0.7536492943763733,
+            -0.6544633507728577,
+            -1.941604733467102,
+            -2.4140970706939697
         ],
         "max": [
-            56.666666666666664
+            1.3156167268753052,
+            0.49648264050483704,
+            0.6294729113578796,
+            0.6918748021125793,
+            0.4934086203575134,
+            2.863708019256592,
+            2.213773012161255
         ],
         "mean": [
-            15.065945351586137
+            -0.010909732170707053,
+            -0.024849040360482418,
+            0.014864452941838486,
+            0.014525531940369138,
+            -0.0012453649566000142,
+            0.005930376182842521,
+            0.25849029140579594
         ],
         "std": [
-            12.151622318266982
+            0.1905199748037393,
+            0.12926070985964874,
+            0.1408448824593188,
+            0.12208299821644338,
+            0.08575388209977264,
+            0.3604702777614984,
+            0.34821175996002324
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            0.2682068013135595
+            -0.3866679978774794,
+            -0.3881707088066756,
+            -0.35867304432711644,
+            -0.32287029958999125,
+            -0.21709291747181403,
+            -0.7847385874681477,
+            -0.7866386565006365
         ],
         "q10": [
-            2.9845237979075385
+            -0.19374856494018772,
+            -0.15711641306340823,
+            -0.13346815837646067,
+            -0.11008645378407607,
+            -0.0889709323751902,
+            -0.3534872042029921,
+            -0.048848991038542046
         ],
         "q50": [
-            15.050636222332034
+            -0.022469790209631735,
+            -0.014240632589675874,
+            0.014901535566570675,
+            0.01091806743651934,
+            0.003198120788261252,
+            -0.0031471321063026303,
+            0.32653470759681746
         ],
         "q90": [
-            27.14441108801249
+            0.19362904843857398,
+            0.09987088277045669,
+            0.1647198897250881,
+            0.15002431071125627,
+            0.08129573907407109,
+            0.40282972597386135,
+            0.46097312026265713
         ],
         "q99": [
-            29.8636772286562
+            0.4864544185543159,
+            0.21376131969116202,
+            0.369650646077382,
+            0.3116499569004052,
+            0.1693162901703955,
+            0.8116348642331878,
+            1.0646515734020368
         ]
     },
     "observation.state.joint_position": {
@@ -1966,7 +1786,7 @@
             -1.1067947149276733,
             -2.7893588542938232,
             -1.247803807258606,
-            1.5719399452209473,
+            1.3449480533599854,
             -2.620277166366577
         ],
         "max": [
@@ -1974,78 +1794,174 @@
             1.3463915586471558,
             1.6711642742156982,
             -0.39170241355895996,
-            1.0031471252441406,
+            1.1700186729431152,
             2.8080883026123047,
-            2.070591926574707
+            2.0716729164123535
         ],
         "mean": [
-            -0.06367577077854995,
-            0.36418931999766213,
-            -0.012476912402370786,
-            -2.0685993344953264,
-            -0.03700784818917076,
-            2.293557434504366,
-            -0.6080552589381152
+            -0.06635265834954272,
+            0.35079451707304965,
+            -0.008199685741475173,
+            -2.0930085937068066,
+            -0.01953547614138411,
+            2.303354693509869,
+            -0.6211408476971023
         ],
         "std": [
-            0.21755345688592598,
-            0.3359397475406783,
-            0.1907758156060458,
-            0.43877466145738664,
-            0.38198027923199734,
-            0.18635472024497327,
-            1.1442580184738174
+            0.2131293747447966,
+            0.3316796049982917,
+            0.18459443694980107,
+            0.435924758642379,
+            0.39857802680391907,
+            0.19736749897231798,
+            1.1595826700781957
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            -0.27367622155299953,
-            -0.5489370496170843,
-            -0.1743893504966339,
-            -2.578046128455462,
-            -0.3782974041316988,
-            1.9241551297501132,
-            -1.232959850351496
+            -0.2730186532418792,
+            -0.5419665936136218,
+            -0.16594171282212541,
+            -2.568884236399888,
+            -0.3737635125938594,
+            1.9098790146379148,
+            -1.2890810865229225
         ],
         "q10": [
-            -0.2237164704444862,
-            0.12835233252858397,
-            -0.13022633289483135,
-            -2.3711940118655472,
-            -0.25826643542262895,
-            2.1631153850996454,
-            -1.0480560863013852
+            -0.2247608987723597,
+            0.1263936183735023,
+            -0.12430353270880896,
+            -2.374642042542397,
+            -0.25121928743160554,
+            2.155558500589659,
+            -1.0933781687087356
         ],
         "q50": [
-            -0.07182984345604314,
-            0.41463118514191255,
-            -0.026539773196450987,
-            -2.0418953501700607,
-            -0.02922316142205988,
-            2.2995236103238454,
-            -0.645899274267763
+            -0.07645422401448933,
+            0.3929732658423139,
+            -0.02094519425905663,
+            -2.0800205244092242,
+            -0.013705460971250458,
+            2.3154230058474807,
+            -0.660519247857208
         ],
         "q90": [
-            0.1017429076362862,
-            0.5612531059467162,
-            0.14165045275445548,
-            -1.8112900540685442,
-            0.17874443165064263,
-            2.428604627207902,
-            -0.08578129911332608
+            0.10243621133833734,
+            0.5500509785596492,
+            0.13925663377779884,
+            -1.8301578051895706,
+            0.20825757609126078,
+            2.440434329981455,
+            -0.06477774102765563
         ],
         "q99": [
-            0.13253397733082328,
-            0.6269435507881171,
-            0.17689553773143654,
-            -1.7132167199180943,
-            0.2897105442598201,
-            2.4710999601826216,
-            0.3644831312295959
+            0.13222560240254072,
+            0.615168416453712,
+            0.1730858572054089,
+            -1.7371247398373468,
+            0.3115920236838498,
+            2.4826778485173837,
+            0.3555027921842468
         ]
     },
-    "observation.images.side_2": {
+    "clip_right_yaw": {
+        "min": [
+            -2.356194496154785
+        ],
+        "max": [
+            -0.7853981852531433
+        ],
+        "mean": [
+            -1.5513325632375152
+        ],
+        "std": [
+            0.6108263401574414
+        ],
+        "count": [
+            36236
+        ],
+        "q01": [
+            -1.5513326273376753
+        ],
+        "q10": [
+            -1.5513326273376737
+        ],
+        "q50": [
+            -1.5513326273376566
+        ],
+        "q90": [
+            -1.5513326273376393
+        ],
+        "q99": [
+            -1.551332627337635
+        ]
+    },
+    "task_index": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            36236
+        ],
+        "q01": [
+            3.999999999999419e-16
+        ],
+        "q10": [
+            3.999999999999419e-15
+        ],
+        "q50": [
+            1.999999999999708e-14
+        ],
+        "q90": [
+            3.5999999999994735e-14
+        ],
+        "q99": [
+            3.959999999999423e-14
+        ]
+    },
+    "clip_left_y": {
+        "min": [
+            0.01269999984651804
+        ],
+        "max": [
+            0.24130000174045563
+        ],
+        "mean": [
+            0.12596467719580404
+        ],
+        "std": [
+            0.0717365081126078
+        ],
+        "count": [
+            36236
+        ],
+        "q01": [
+            0.12596468190361468
+        ],
+        "q10": [
+            0.12596468190361845
+        ],
+        "q50": [
+            0.12596468190363436
+        ],
+        "q90": [
+            0.1259646819036504
+        ],
+        "q99": [
+            0.12596468190365412
+        ]
+    },
+    "observation.images.wrist_left": {
         "min": [
             [
                 [
@@ -2083,245 +1999,127 @@
         "mean": [
             [
                 [
-                    0.43345599926168843
+                    0.3114245075673665
                 ]
             ],
             [
                 [
-                    0.41385228254605144
+                    0.30431152511322684
                 ]
             ],
             [
                 [
-                    0.39050340656201554
+                    0.29576435135842977
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.3071265286962269
+                    0.18475375638139122
                 ]
             ],
             [
                 [
-                    0.30610191450347
+                    0.17572602548490654
                 ]
             ],
             [
                 [
-                    0.31236939982025325
+                    0.17966887443479707
                 ]
             ]
         ],
         "count": [
-            582048000
+            695731200
         ],
         "q01": [
             [
                 [
-                    0.04194186558221833
+                    0.01752168292780478
                 ]
             ],
             [
                 [
-                    0.02427893591880061
+                    0.014041012513243412
                 ]
             ],
             [
                 [
-                    0.02330980809016366
+                    0.00748514128434778
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    0.13984935135233953
+                    0.07734088303976178
                 ]
             ],
             [
                 [
-                    0.1306412220021083
+                    0.07386759660054741
                 ]
             ],
             [
                 [
-                    0.118101153004114
+                    0.06405957405143775
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.2759567514899025
+                    0.2905814555872167
                 ]
             ],
             [
                 [
-                    0.2619066879980793
+                    0.28921725697795286
                 ]
             ],
             [
                 [
-                    0.22626339935647471
+                    0.27680579544565914
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.928812278925892
+                    0.5208997973569965
                 ]
             ],
             [
                 [
-                    0.9399185176564904
+                    0.5044391858166019
                 ]
             ],
             [
                 [
-                    0.9344556013827117
+                    0.5045477486780757
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.9994465040505335
+                    0.9801784698074989
                 ]
             ],
             [
                 [
-                    0.9996637742584541
+                    0.9619269329635673
                 ]
             ],
             [
                 [
-                    0.9990307578831868
+                    0.9451707676855668
                 ]
             ]
         ]
     },
-    "action.joint_position": {
-        "min": [
-            -1.9443415403366089,
-            -0.6513487696647644,
-            -1.126143217086792,
-            -2.841963768005371,
-            -1.3307095766067505,
-            1.4589351415634155,
-            -2.701259136199951
-        ],
-        "max": [
-            1.0456335544586182,
-            1.3902884721755981,
-            1.7075296640396118,
-            -0.3205280303955078,
-            1.0352200269699097,
-            2.8344130516052246,
-            2.1210460662841797
-        ],
-        "mean": [
-            -0.06899483754014948,
-            0.3650136439443991,
-            -0.010196645521890155,
-            -2.0693662901080385,
-            -0.03675771099636514,
-            2.295392902275329,
-            -0.6134573016859469
-        ],
-        "std": [
-            0.22471048985779254,
-            0.3229454080976934,
-            0.19459644159462536,
-            0.4411866400866842,
-            0.38412290205347555,
-            0.18657438728535436,
-            1.15732203528688
-        ],
-        "count": [
-            30315
-        ],
-        "q01": [
-            -0.28760090035937624,
-            -0.44622501462703845,
-            -0.1781904136434474,
-            -2.5635296122345643,
-            -0.3859805165044261,
-            1.976118978159615,
-            -1.2168709208319688
-        ],
-        "q10": [
-            -0.23411303263313235,
-            0.14565156640274202,
-            -0.12783670623425972,
-            -2.367724685745373,
-            -0.25928890157337664,
-            2.16321041293841,
-            -1.0536082270261475
-        ],
-        "q50": [
-            -0.07911361323021973,
-            0.40454907386986966,
-            -0.025249739840126,
-            -2.0490682877536486,
-            -0.02798185317581326,
-            2.298725372045061,
-            -0.647027645497565
-        ],
-        "q90": [
-            0.10172950646839773,
-            0.5594716407628803,
-            0.14480898782280072,
-            -1.8080856549429587,
-            0.1791638917463647,
-            2.433163915996327,
-            -0.09618737525314157
-        ],
-        "q99": [
-            0.13756803812241827,
-            0.6374833124121974,
-            0.1860882626185975,
-            -1.694517352281802,
-            0.29623433953787415,
-            2.483513016320343,
-            0.319011555381019
-        ]
-    },
-    "index": {
-        "min": [
-            0.0
-        ],
-        "max": [
-            30314.0
-        ],
-        "mean": [
-            15157.0
-        ],
-        "std": [
-            8751.186700480494
-        ],
-        "count": [
-            30315
-        ],
-        "q01": [
-            14935.03392174729
-        ],
-        "q10": [
-            14975.778676695945
-        ],
-        "q50": [
-            15156.813317849248
-        ],
-        "q90": [
-            15338.176986045275
-        ],
-        "q99": [
-            15378.965978154678
-        ]
-    },
-    "task_index": {
+    "source": {
         "min": [
             0.0
         ],
@@ -2335,10 +2133,10 @@
             0.0
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            3.9999999999994196e-16
+            3.999999999999419e-16
         ],
         "q10": [
             3.999999999999419e-15
@@ -2350,308 +2148,510 @@
             3.5999999999994735e-14
         ],
         "q99": [
-            3.959999999999422e-14
+            3.959999999999423e-14
         ]
     },
-    "observation.state.cartesian_position": {
-        "min": [
-            0.2704809606075287,
-            -0.48879191279411316,
-            0.1785561889410019,
-            -3.1415905952453613,
-            -0.582055926322937,
-            -3.1409735679626465
-        ],
-        "max": [
-            0.7848861813545227,
-            0.3563217222690582,
-            0.48671817779541016,
-            3.141589641571045,
-            0.6079015135765076,
-            3.1413233280181885
-        ],
-        "mean": [
-            0.5361473675629846,
-            -0.04082182793084329,
-            0.23734595519411433,
-            -0.5946453782044562,
-            0.1774496497378692,
-            0.5549499945752244
-        ],
-        "std": [
-            0.1170519449823574,
-            0.1565283242773329,
-            0.054536514638814114,
-            2.9778060272372073,
-            0.16656267684072204,
-            1.4953507596922764
-        ],
-        "count": [
-            30315
-        ],
-        "q01": [
-            0.3696481215436256,
-            -0.17855655903227316,
-            0.196592946527449,
-            -2.9856380322532092,
-            -0.06975977234436764,
-            -0.6386464822466105
-        ],
-        "q10": [
-            0.4572566804348968,
-            -0.14252380832106426,
-            0.20722397056359676,
-            -2.5363317652608997,
-            0.04285180760246708,
-            -0.01867600925913325
-        ],
-        "q50": [
-            0.5445635123828694,
-            -0.06012415869787646,
-            0.22333819404211602,
-            -1.0177125528719315,
-            0.1743786284975596,
-            0.5669172796417492
-        ],
-        "q90": [
-            0.6049643506660852,
-            0.08790576924051278,
-            0.2760238638904222,
-            2.2333706296159272,
-            0.3266646097467084,
-            1.0964968306170926
-        ],
-        "q99": [
-            0.633795485550105,
-            0.11065400157182777,
-            0.4720599578473065,
-            2.9566723245788338,
-            0.366775935590754,
-            1.4610262637699003
-        ]
-    },
-    "clip_right_oidx": {
+    "done": {
         "min": [
             0.0
         ],
         "max": [
-            2.0
+            1.0
         ],
         "mean": [
-            0.9958106547913579
+            0.005077823159289104
         ],
         "std": [
-            0.7269117719284668
+            0.07107769601817499
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            0.9958106547913579
+            -7.235059036317471e-11
         ],
         "q10": [
-            0.9958106547913603
+            -7.23495949884093e-11
         ],
         "q50": [
-            0.9958106547913785
+            -7.234517110056296e-11
         ],
         "q90": [
-            0.9958106547913937
+            -7.234074721271663e-11
         ],
         "q99": [
-            0.9958106547913975
+            0.14155097473243597
         ]
     },
-    "success": {
+    "steps_to_go": {
         "min": [
             0.0
         ],
         "max": [
-            1.0
+            850.0
         ],
         "mean": [
-            0.0727692561438232
+            227.8036759024175
         ],
         "std": [
-            0.2597573704519234
+            184.52315750301855
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            0.07276925614382358
+            4.048625369478924
         ],
         "q10": [
-            0.07276925614382718
+            45.135787063613314
         ],
         "q50": [
-            0.07276925614384319
+            227.57566102770713
         ],
         "q90": [
-            0.07276925614385917
+            410.41630941502666
         ],
         "q99": [
-            0.0727692561438628
+            451.55864269344204
         ]
     },
-    "clip_left_yaw": {
+    "action.joint_position": {
         "min": [
-            -2.356194496154785
+            -1.9443415403366089,
+            -0.6513487696647644,
+            -1.126143217086792,
+            -2.841963768005371,
+            -1.3307095766067505,
+            1.3309324979782104,
+            -2.701259136199951
         ],
         "max": [
-            -0.7853981852531433
+            1.0456335544586182,
+            1.3902884721755981,
+            1.7075296640396118,
+            -0.3205280303955078,
+            1.210149884223938,
+            2.8344130516052246,
+            2.127580165863037
         ],
         "mean": [
-            -1.3523667517696185
+            -0.07199458526342714,
+            0.35213474352177976,
+            -0.0058662490850480645,
+            -2.0939203581545214,
+            -0.01878808459697006,
+            2.306345376813499,
+            -0.6273984160839291
         ],
         "std": [
-            0.5627261212058147
+            0.21979395225861684,
+            0.31848875851566905,
+            0.1880048080682847,
+            0.4381037770304632,
+            0.40219380550655504,
+            0.19746444593807463,
+            1.1725547221272699
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            -1.3523668015709063
+            -0.28810230021722977,
+            -0.4381014133403048,
+            -0.1689783141304178,
+            -2.551218604753456,
+            -0.38194772541187594,
+            1.9610651115882918,
+            -1.2751683473351778
         ],
         "q10": [
-            -1.3523668015709038
+            -0.23566945014150456,
+            0.14288886883786675,
+            -0.12217923694664257,
+            -2.371657996277945,
+            -0.251858649342879,
+            2.1572628771958176,
+            -1.0999611378011582
         ],
         "q50": [
-            -1.352366801570886
+            -0.0833769782102075,
+            0.3842142602045572,
+            -0.019117447443770082,
+            -2.0867275840353865,
+            -0.012496805054135904,
+            2.315805451887962,
+            -0.6625066236520002
         ],
         "q90": [
-            -1.35236680157087
+            0.10196558910687584,
+            0.54820230271521,
+            0.1420639841383573,
+            -1.8287909425076914,
+            0.2096274538116778,
+            2.445779460879269,
+            -0.07412526769425994
         ],
         "q99": [
-            -1.3523668015708663
+            0.13705938245567162,
+            0.6252743806964318,
+            0.18213049107836476,
+            -1.719532697132825,
+            0.32015450334985057,
+            2.4967331438368956,
+            0.3093594893823477
         ]
     },
-    "done": {
+    "observation.images.side_2": {
         "min": [
-            0.0
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
         ],
         "max": [
-            1.0
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
         ],
         "mean": [
-            0.0049480455220188005
+            [
+                [
+                    0.43444038565594545
+                ]
+            ],
+            [
+                [
+                    0.41483531393894546
+                ]
+            ],
+            [
+                [
+                    0.39154400806189354
+                ]
+            ]
         ],
         "std": [
-            0.07016810078326782
+            [
+                [
+                    0.3081206215288225
+                ]
+            ],
+            [
+                [
+                    0.3070820082167639
+                ]
+            ],
+            [
+                [
+                    0.31332481806046103
+                ]
+            ]
         ],
         "count": [
-            30315
+            695731200
         ],
         "q01": [
-            -6.912737114959586e-11
+            [
+                [
+                    0.04160980562880537
+                ]
+            ],
+            [
+                [
+                    0.02409624180122742
+                ]
+            ],
+            [
+                [
+                    0.02334110993603099
+                ]
+            ]
         ],
         "q10": [
-            -6.91262597394029e-11
+            [
+                [
+                    0.13954684421212543
+                ]
+            ],
+            [
+                [
+                    0.13035537882004003
+                ]
+            ],
+            [
+                [
+                    0.11817242200164638
+                ]
+            ]
         ],
         "q50": [
-            -6.912132013854525e-11
+            [
+                [
+                    0.27630877514803037
+                ]
+            ],
+            [
+                [
+                    0.26234989240138984
+                ]
+            ],
+            [
+                [
+                    0.22674623237310307
+                ]
+            ]
         ],
         "q90": [
-            -6.911638053768758e-11
+            [
+                [
+                    0.9315504734229212
+                ]
+            ],
+            [
+                [
+                    0.9428433072278947
+                ]
+            ],
+            [
+                [
+                    0.9373028576958402
+                ]
+            ]
         ],
         "q99": [
-            0.12447467823385994
+            [
+                [
+                    0.9995260980524567
+                ]
+            ],
+            [
+                [
+                    0.9997106441069648
+                ]
+            ],
+            [
+                [
+                    0.9991780376131443
+                ]
+            ]
         ]
     },
-    "clip_left_y": {
+    "telemetry.franka.joint_torques_computed": {
         "min": [
-            0.01269999984651804
+            -11.54956340789795,
+            -10.091256141662598,
+            -9.531953811645508,
+            -6.364743709564209,
+            -5.641271591186523,
+            -4.29677152633667,
+            -2.381282329559326
         ],
         "max": [
-            0.24130000174045563
+            7.926870822906494,
+            12.5318021774292,
+            6.670920372009277,
+            10.342308044433594,
+            3.160402774810791,
+            4.716380596160889,
+            2.517413854598999
         ],
         "mean": [
-            0.12565898858023059
+            -0.5943081461719,
+            -1.0034723002529382,
+            -0.26325590066113,
+            0.06356494244428021,
+            0.07397371354496267,
+            0.04708212254386993,
+            0.067227402817117
         ],
         "std": [
-            0.06456547678225229
+            1.4577447618805583,
+            1.7235364087492073,
+            1.192983406430635,
+            1.378183785025485,
+            0.6057752642247867,
+            0.593847830054532,
+            0.34067455100059385
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            0.1256589906241636
+            -3.6746008307088567,
+            -4.813396374630178,
+            -2.788799859274063,
+            -2.42637107229838,
+            -1.000428645672402,
+            -1.0377814501539089,
+            -0.4672069873692158
         ],
         "q10": [
-            0.12565899062416724
+            -2.158315553361979,
+            -3.01461133594361,
+            -1.499926236030813,
+            -1.325977964816792,
+            -0.6140815876277382,
+            -0.6149701132812697,
+            -0.28631758350577463
         ],
         "q50": [
-            0.12565899062418331
+            -0.5219363801344978,
+            -0.9046989242077289,
+            -0.24078463878246062,
+            0.058924398008723906,
+            0.06786452946530654,
+            0.026019440575993574,
+            0.03918469706455816
         ],
         "q90": [
-            0.12565899062419933
+            0.8198396661781702,
+            0.8066046173967131,
+            0.9327268723184169,
+            1.4516792541383046,
+            0.7894898843073539,
+            0.7427787387104003,
+            0.4720561867186731
         ],
         "q99": [
-            0.12565899062420297
+            1.955094335460255,
+            2.332125399930351,
+            1.9672263274860664,
+            2.597959812693096,
+            1.1679635688011003,
+            1.1976190891689575,
+            0.7075289923369462
         ]
     },
-    "observation.state.gripper_position": {
+    "success": {
         "min": [
             0.0
         ],
         "max": [
-            0.9911894202232361
+            1.0
         ],
         "mean": [
-            0.6749337535230472
+            0.09186996357213821
         ],
         "std": [
-            0.3773095937882621
+            0.2888422984353092
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            -1.0000000000000002e-10
+            0.09186996357213857
         ],
         "q10": [
-            0.060243271580532894
+            0.09186996357214217
         ],
         "q50": [
-            0.8451375587631882
+            0.09186996357215821
         ],
         "q90": [
-            0.9157568289348554
+            0.09186996357217418
         ],
         "q99": [
-            0.917880894054255
+            0.0918699635721778
         ]
     },
-    "clip_right_yaw": {
+    "observation.state.cartesian_velocity": {
         "min": [
-            -2.356194496154785
+            -0.2251930832862854,
+            -0.404171884059906,
+            -0.29557904601097107,
+            -0.5007403492927551,
+            -0.6520513296127319,
+            -0.903372049331665
         ],
         "max": [
-            -0.7853981852531433
+            0.2343875765800476,
+            0.196737140417099,
+            0.18554596602916718,
+            0.637255847454071,
+            0.44676828384399414,
+            0.9729872345924377
         ],
         "mean": [
-            -1.567505988356266
+            0.006039192304829,
+            -0.002563701841298016,
+            -0.009698518819021918,
+            0.0021875072230987096,
+            0.010617759806493453,
+            0.02111200414354974
         ],
         "std": [
-            0.5709152738083652
+            0.035969372996203036,
+            0.038313096685776295,
+            0.03863052963546128,
+            0.06336444853706237,
+            0.05872806177345334,
+            0.2169993971322039
         ],
         "count": [
-            30315
+            36236
         ],
         "q01": [
-            -1.56750605075878
+            -0.06914731922809617,
+            -0.13894642448107739,
+            -0.14477095669416842,
+            -0.2070059642972668,
+            -0.15030084085699483,
+            -0.47684826073247083
         ],
         "q10": [
-            -1.5675060507587781
+            -0.0194572180390795,
+            -0.02900485643181265,
+            -0.047983428510264194,
+            -0.045587842501795754,
+            -0.04229465692517226,
+            -0.16750866394835182
         ],
         "q50": [
-            -1.5675060507587606
+            0.0011489572191589513,
+            0.000762388990093382,
+            -0.0018433037745209165,
+            0.0009522523805462022,
+            0.006181814331882743,
+            0.006457887458770864
         ],
         "q90": [
-            -1.5675060507587442
+            0.03851363669782526,
+            0.025799771160712026,
+            0.016071017407957206,
+            0.055066521571250714,
+            0.07349377785457255,
+            0.2565084941107551
         ],
         "q99": [
-            -1.5675060507587404
+            0.12241635441271928,
+            0.0712616714231759,
+            0.07600678586968357,
+            0.1833740236194026,
+            0.16931140214131252,
+            0.5665217532151878
         ]
     }
 }
\ No newline at end of file