diff --git a/poetry.lock b/poetry.lock
index 0bf02e3..b3ebedd 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,15 +1,15 @@
-# This file is automatically @generated by Poetry 2.1.3 and should not be changed by hand.
+# This file is automatically @generated by Poetry 2.1.1 and should not be changed by hand.
 
 [[package]]
 name = "alembic"
-version = "1.16.4"
+version = "1.16.5"
 description = "A database migration tool for SQLAlchemy."
 optional = false
 python-versions = ">=3.9"
 groups = ["main"]
 files = [
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 [package.dependencies]
@@ -33,211 +33,244 @@ files = [
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 ]
 
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+optional = false
+python-versions = ">=3.6"
+groups = ["dev"]
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+]
+
+[[package]]
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+version = "3.0.0"
+description = "Annotate AST trees with source code positions"
+optional = false
+python-versions = ">=3.8"
+groups = ["dev"]
+files = [
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+[package.extras]
+astroid = ["astroid (>=2,<4)"]
+test = ["astroid (>=2,<4)", "pytest", "pytest-cov", "pytest-xdist"]
+
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+version = "2025.8.3"
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 python-versions = ">=3.7"
 groups = ["main"]
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 ]
 
 [[package]]
 name = "click"
-version = "8.2.2"
+version = "8.3.0"
 description = "Composable command line interface toolkit"
 optional = false
 python-versions = ">=3.10"
 groups = ["main"]
 files = [
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-    {file = "click-8.2.2.tar.gz", hash = "sha256:068616e6ef9705a07b6db727cb9c248f4eb9dae437a30239f56fa94b18b852ef"},
+    {file = "click-8.3.0-py3-none-any.whl", hash = "sha256:9b9f285302c6e3064f4330c05f05b81945b2a39544279343e6e7c5f27a9baddc"},
+    {file = "click-8.3.0.tar.gz", hash = "sha256:e7b8232224eba16f4ebe410c25ced9f7875cb5f3263ffc93cc3e8da705e229c4"},
 ]
 
 [package.dependencies]
@@ -249,12 +282,27 @@ version = "0.4.6"
 description = "Cross-platform colored terminal text."
 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
-groups = ["main", "test"]
+groups = ["main", "dev", "test"]
 files = [
     {file = "colorama-0.4.6-py2.py3-none-any.whl", hash = "sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6"},
     {file = "colorama-0.4.6.tar.gz", hash = "sha256:08695f5cb7ed6e0531a20572697297273c47b8cae5a63ffc6d6ed5c201be6e44"},
 ]
-markers = {main = "platform_system == \"Windows\"", test = "sys_platform == \"win32\""}
+markers = {main = "platform_system == \"Windows\"", dev = "sys_platform == \"win32\"", test = "sys_platform == \"win32\""}
+
+[[package]]
+name = "comm"
+version = "0.2.3"
+description = "Jupyter Python Comm implementation, for usage in ipykernel, xeus-python etc."
+optional = false
+python-versions = ">=3.8"
+groups = ["dev"]
+files = [
+    {file = "comm-0.2.3-py3-none-any.whl", hash = "sha256:c615d91d75f7f04f095b30d1c1711babd43bdc6419c1be9886a85f2f4e489417"},
+    {file = "comm-0.2.3.tar.gz", hash = "sha256:2dc8048c10962d55d7ad693be1e7045d891b7ce8d999c97963a5e3e99c055971"},
+]
+
+[package.extras]
+test = ["pytest"]
 
 [[package]]
 name = "contourpy"
@@ -443,6 +491,58 @@ files = [
 docs = ["ipython", "matplotlib", "numpydoc", "sphinx"]
 tests = ["pytest", "pytest-cov", "pytest-xdist"]
 
+[[package]]
+name = "debugpy"
+version = "1.8.17"
+description = "An implementation of the Debug Adapter Protocol for Python"
+optional = false
+python-versions = ">=3.8"
+groups = ["dev"]
+files = [
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+description = "Decorators for Humans"
+optional = false
+python-versions = ">=3.8"
+groups = ["dev"]
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 version = "0.31.0"
@@ -527,7 +627,7 @@ version = "1.3.0"
 description = "Backport of PEP 654 (exception groups)"
 optional = false
 python-versions = ">=3.7"
-groups = ["test"]
+groups = ["dev", "test"]
 markers = "python_version == \"3.10\""
 files = [
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 [package.extras]
 test = ["pytest (>=6)"]
 
+[[package]]
+name = "executing"
+version = "2.2.1"
+description = "Get the currently executing AST node of a frame, and other information"
+optional = false
+python-versions = ">=3.8"
+groups = ["dev"]
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+
 [[package]]
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 [package.extras]
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-test = ["objgraph", "psutil"]
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 ]
 
 [package.extras]
@@ -789,14 +915,14 @@ tests = ["pytest"]
 
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+    {file = "huggingface_hub-0.35.1.tar.gz", hash = "sha256:3585b88c5169c64b7e4214d0e88163d4a709de6d1a502e0cd0459e9ee2c9c572"},
 ]
 
 [package.dependencies]
@@ -810,19 +936,19 @@ tqdm = ">=4.42.1"
 typing-extensions = ">=3.7.4.3"
 
 [package.extras]
-all = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "aiohttp", "authlib (>=1.3.2)", "fastapi", "gradio (>=4.0.0)", "httpx", "itsdangerous", "jedi", "libcst (>=1.4.0)", "mypy (==1.15.0) ; python_version >= \"3.9\"", "mypy (>=1.14.1,<1.15.0) ; python_version == \"3.8\"", "numpy", "pytest (>=8.1.1,<8.2.2)", "pytest-asyncio", "pytest-cov", "pytest-env", "pytest-mock", "pytest-rerunfailures", "pytest-vcr", "pytest-xdist", "ruff (>=0.9.0)", "soundfile", "types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3", "typing-extensions (>=4.8.0)", "urllib3 (<2.0)"]
+all = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "aiohttp", "authlib (>=1.3.2)", "fastapi", "gradio (>=4.0.0)", "httpx", "itsdangerous", "jedi", "libcst (>=1.4.0)", "mypy (==1.15.0) ; python_version >= \"3.9\"", "mypy (>=1.14.1,<1.15.0) ; python_version == \"3.8\"", "numpy", "pytest (>=8.1.1,<8.2.2)", "pytest-asyncio", "pytest-cov", "pytest-env", "pytest-mock", "pytest-rerunfailures (<16.0)", "pytest-vcr", "pytest-xdist", "ruff (>=0.9.0)", "soundfile", "ty", "types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3", "typing-extensions (>=4.8.0)", "urllib3 (<2.0)"]
 cli = ["InquirerPy (==0.3.4)"]
-dev = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "aiohttp", "authlib (>=1.3.2)", "fastapi", "gradio (>=4.0.0)", "httpx", "itsdangerous", "jedi", "libcst (>=1.4.0)", "mypy (==1.15.0) ; python_version >= \"3.9\"", "mypy (>=1.14.1,<1.15.0) ; python_version == \"3.8\"", "numpy", "pytest (>=8.1.1,<8.2.2)", "pytest-asyncio", "pytest-cov", "pytest-env", "pytest-mock", "pytest-rerunfailures", "pytest-vcr", "pytest-xdist", "ruff (>=0.9.0)", "soundfile", "types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3", "typing-extensions (>=4.8.0)", "urllib3 (<2.0)"]
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 fastai = ["fastai (>=2.4)", "fastcore (>=1.3.27)", "toml"]
 hf-transfer = ["hf-transfer (>=0.1.4)"]
 hf-xet = ["hf-xet (>=1.1.2,<2.0.0)"]
 inference = ["aiohttp"]
 mcp = ["aiohttp", "mcp (>=1.8.0)", "typer"]
 oauth = ["authlib (>=1.3.2)", "fastapi", "httpx", "itsdangerous"]
-quality = ["libcst (>=1.4.0)", "mypy (==1.15.0) ; python_version >= \"3.9\"", "mypy (>=1.14.1,<1.15.0) ; python_version == \"3.8\"", "ruff (>=0.9.0)"]
+quality = ["libcst (>=1.4.0)", "mypy (==1.15.0) ; python_version >= \"3.9\"", "mypy (>=1.14.1,<1.15.0) ; python_version == \"3.8\"", "ruff (>=0.9.0)", "ty"]
 tensorflow = ["graphviz", "pydot", "tensorflow"]
 tensorflow-testing = ["keras (<3.0)", "tensorflow"]
-testing = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "aiohttp", "authlib (>=1.3.2)", "fastapi", "gradio (>=4.0.0)", "httpx", "itsdangerous", "jedi", "numpy", "pytest (>=8.1.1,<8.2.2)", "pytest-asyncio", "pytest-cov", "pytest-env", "pytest-mock", "pytest-rerunfailures", "pytest-vcr", "pytest-xdist", "soundfile", "urllib3 (<2.0)"]
+testing = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "aiohttp", "authlib (>=1.3.2)", "fastapi", "gradio (>=4.0.0)", "httpx", "itsdangerous", "jedi", "numpy", "pytest (>=8.1.1,<8.2.2)", "pytest-asyncio", "pytest-cov", "pytest-env", "pytest-mock", "pytest-rerunfailures (<16.0)", "pytest-vcr", "pytest-xdist", "soundfile", "urllib3 (<2.0)"]
 torch = ["safetensors[torch]", "torch"]
 typing = ["types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3", "typing-extensions (>=4.8.0)"]
 
@@ -877,6 +1003,150 @@ files = [
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 ]
 
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+description = "IPython Kernel for Jupyter"
+optional = false
+python-versions = ">=3.9"
+groups = ["dev"]
+files = [
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+]
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+[package.dependencies]
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+comm = ">=0.1.1"
+debugpy = ">=1.6.5"
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+packaging = ">=22"
+psutil = ">=5.7"
+pyzmq = ">=25"
+tornado = ">=6.2"
+traitlets = ">=5.4.0"
+
+[package.extras]
+cov = ["coverage[toml]", "matplotlib", "pytest-cov", "trio"]
+docs = ["intersphinx-registry", "myst-parser", "pydata-sphinx-theme", "sphinx", "sphinx-autodoc-typehints", "sphinxcontrib-github-alt", "sphinxcontrib-spelling", "trio"]
+pyqt5 = ["pyqt5"]
+pyside6 = ["pyside6"]
+test = ["flaky", "ipyparallel", "pre-commit", "pytest (>=7.0,<9)", "pytest-asyncio (>=0.23.5)", "pytest-cov", "pytest-timeout"]
+
+[[package]]
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+optional = false
+python-versions = ">=3.10"
+groups = ["dev"]
+markers = "python_version == \"3.10\""
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+
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+
+[[package]]
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+optional = false
+python-versions = ">=3.8"
+groups = ["dev"]
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+optional = false
+python-versions = ">=3.6"
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+testing = ["Django", "attrs", "colorama", "docopt", "pytest (<9.0.0)"]
+
 [[package]]
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 version = "3.1.6"
@@ -895,106 +1165,171 @@ MarkupSafe = ">=2.0"
 [package.extras]
 i18n = ["Babel (>=2.7)"]
 
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-version = "1.2.2"
+version = "1.3.0"
 description = "a modern parsing library"
 optional = false
 python-versions = ">=3.8"
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 files = [
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 ]
 
 [package.extras]
@@ -1081,14 +1416,14 @@ testing = ["pytest"]
 
 [[package]]
 name = "markdown-it-py"
-version = "3.0.0"
+version = "4.0.0"
 description = "Python port of markdown-it. Markdown parsing, done right!"
 optional = false
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 ]
 
 [package.dependencies]
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 [package.extras]
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-code-style = ["pre-commit (>=3.0,<4.0)"]
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 linkify = ["linkify-it-py (>=1,<3)"]
-plugins = ["mdit-py-plugins"]
+plugins = ["mdit-py-plugins (>=0.5.0)"]
 profiling = ["gprof2dot"]
-rtd = ["jupyter_sphinx", "mdit-py-plugins", "myst-parser", "pyyaml", "sphinx", "sphinx-copybutton", "sphinx-design", "sphinx_book_theme"]
-testing = ["coverage", "pytest", "pytest-cov", "pytest-regressions"]
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+testing = ["coverage", "pytest", "pytest-cov", "pytest-regressions", "requests"]
 
 [[package]]
 name = "markupsafe"
@@ -1177,67 +1511,67 @@ files = [
 
 [[package]]
 name = "matplotlib"
-version = "3.10.5"
+version = "3.10.6"
 description = "Python plotting package"
 optional = false
 python-versions = ">=3.10"
 groups = ["main"]
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 [package.dependencies]
@@ -1254,6 +1588,21 @@ python-dateutil = ">=2.7"
 [package.extras]
 dev = ["meson-python (>=0.13.1,<0.17.0)", "pybind11 (>=2.13.2,!=2.13.3)", "setuptools (>=64)", "setuptools_scm (>=7)"]
 
+[[package]]
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+version = "0.1.7"
+description = "Inline Matplotlib backend for Jupyter"
+optional = false
+python-versions = ">=3.8"
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+
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+
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 version = "1.3.0"
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+[[package]]
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+version = "1.6.0"
+description = "Patch asyncio to allow nested event loops"
+optional = false
+python-versions = ">=3.5"
+groups = ["dev"]
+files = [
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+
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 name = "networkx"
 version = "3.4.2"
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 description = "Core utilities for Python packages"
 optional = false
 python-versions = ">=3.8"
-groups = ["main", "test"]
+groups = ["main", "dev", "test"]
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 ]
 
 [package.dependencies]
@@ -1733,6 +2094,38 @@ sql-other = ["SQLAlchemy (>=2.0.0)", "adbc-driver-postgresql (>=0.8.0)", "adbc-d
 test = ["hypothesis (>=6.46.1)", "pytest (>=7.3.2)", "pytest-xdist (>=2.2.0)"]
 xml = ["lxml (>=4.9.2)"]
 
+[[package]]
+name = "parso"
+version = "0.8.5"
+description = "A Python Parser"
+optional = false
+python-versions = ">=3.6"
+groups = ["dev"]
+files = [
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+    {file = "parso-0.8.5.tar.gz", hash = "sha256:034d7354a9a018bdce352f48b2a8a450f05e9d6ee85db84764e9b6bd96dafe5a"},
+]
+
+[package.extras]
+qa = ["flake8 (==5.0.4)", "mypy (==0.971)", "types-setuptools (==67.2.0.1)"]
+testing = ["docopt", "pytest"]
+
+[[package]]
+name = "pexpect"
+version = "4.9.0"
+description = "Pexpect allows easy control of interactive console applications."
+optional = false
+python-versions = "*"
+groups = ["dev"]
+markers = "sys_platform != \"win32\" and sys_platform != \"emscripten\""
+files = [
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+]
+
+[package.dependencies]
+ptyprocess = ">=0.5"
+
 [[package]]
 name = "pillow"
 version = "11.3.0"
@@ -1860,14 +2253,14 @@ xmp = ["defusedxml"]
 
 [[package]]
 name = "platformdirs"
-version = "4.3.8"
+version = "4.4.0"
 description = "A small Python package for determining appropriate platform-specific dirs, e.g. a `user data dir`."
 optional = false
 python-versions = ">=3.9"
-groups = ["main"]
+groups = ["main", "dev"]
 files = [
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 ]
 
 [package.extras]
@@ -1903,48 +2296,90 @@ files = [
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 ]
 
+[[package]]
+name = "prompt-toolkit"
+version = "3.0.52"
+description = "Library for building powerful interactive command lines in Python"
+optional = false
+python-versions = ">=3.8"
+groups = ["dev"]
+files = [
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+]
+
+[package.dependencies]
+wcwidth = "*"
+
 [[package]]
 name = "protobuf"
-version = "6.31.1"
+version = "6.32.1"
 description = ""
 optional = false
 python-versions = ">=3.9"
 groups = ["main"]
 files = [
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 ]
 
 [[package]]
 name = "psutil"
-version = "7.0.0"
-description = "Cross-platform lib for process and system monitoring in Python.  NOTE: the syntax of this script MUST be kept compatible with Python 2.7."
+version = "7.1.0"
+description = "Cross-platform lib for process and system monitoring."
 optional = false
 python-versions = ">=3.6"
-groups = ["main"]
+groups = ["main", "dev"]
 files = [
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 ]
 
 [package.extras]
-dev = ["abi3audit", "black (==24.10.0)", "check-manifest", "coverage", "packaging", "pylint", "pyperf", "pypinfo", "pytest", "pytest-cov", "pytest-xdist", "requests", "rstcheck", "ruff", "setuptools", "sphinx", "sphinx_rtd_theme", "toml-sort", "twine", "virtualenv", "vulture", "wheel"]
-test = ["pytest", "pytest-xdist", "setuptools"]
+dev = ["abi3audit", "black", "check-manifest", "coverage", "packaging", "pylint", "pyperf", "pypinfo", "pyreadline ; os_name == \"nt\"", "pytest", "pytest-cov", "pytest-instafail", "pytest-subtests", "pytest-xdist", "pywin32 ; os_name == \"nt\" and platform_python_implementation != \"PyPy\"", "requests", "rstcheck", "ruff", "setuptools", "sphinx", "sphinx_rtd_theme", "toml-sort", "twine", "virtualenv", "vulture", "wheel", "wheel ; os_name == \"nt\" and platform_python_implementation != \"PyPy\"", "wmi ; os_name == \"nt\" and platform_python_implementation != \"PyPy\""]
+test = ["pytest", "pytest-instafail", "pytest-subtests", "pytest-xdist", "pywin32 ; os_name == \"nt\" and platform_python_implementation != \"PyPy\"", "setuptools", "wheel ; os_name == \"nt\" and platform_python_implementation != \"PyPy\"", "wmi ; os_name == \"nt\" and platform_python_implementation != \"PyPy\""]
+
+[[package]]
+name = "ptyprocess"
+version = "0.7.0"
+description = "Run a subprocess in a pseudo terminal"
+optional = false
+python-versions = "*"
+groups = ["dev"]
+markers = "sys_platform != \"win32\" and sys_platform != \"emscripten\""
+files = [
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+]
+
+[[package]]
+name = "pure-eval"
+version = "0.2.3"
+description = "Safely evaluate AST nodes without side effects"
+optional = false
+python-versions = "*"
+groups = ["dev"]
+files = [
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+]
+
+[package.extras]
+tests = ["pytest"]
 
 [[package]]
 name = "pybh"
@@ -1965,27 +2400,27 @@ subdirectory = "Make/Python"
 
 [[package]]
 name = "pycparser"
-version = "2.22"
+version = "2.23"
 description = "C parser in Python"
 optional = false
 python-versions = ">=3.8"
-groups = ["main"]
-markers = "platform_python_implementation == \"PyPy\""
+groups = ["dev"]
+markers = "implementation_name == \"pypy\""
 files = [
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+    {file = "pycparser-2.23.tar.gz", hash = "sha256:78816d4f24add8f10a06d6f05b4d424ad9e96cfebf68a4ddc99c65c0720d00c2"},
 ]
 
 [[package]]
 name = "pydantic"
-version = "2.11.7"
+version = "2.11.9"
 description = "Data validation using Python type hints"
 optional = false
 python-versions = ">=3.9"
 groups = ["main"]
 files = [
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 description = "Pygments is a syntax highlighting package written in Python."
 optional = false
 python-versions = ">=3.8"
-groups = ["main", "test"]
+groups = ["main", "dev", "test"]
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@@ -2127,14 +2562,14 @@ windows-terminal = ["colorama (>=0.4.6)"]
 
 [[package]]
 name = "pyparsing"
-version = "3.2.3"
-description = "pyparsing module - Classes and methods to define and execute parsing grammars"
+version = "3.2.5"
+description = "pyparsing - Classes and methods to define and execute parsing grammars"
 optional = false
 python-versions = ">=3.9"
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 [package.extras]
@@ -2142,14 +2577,14 @@ diagrams = ["jinja2", "railroad-diagrams"]
 
 [[package]]
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-version = "8.4.1"
+version = "8.4.2"
 description = "pytest: simple powerful testing with Python"
 optional = false
 python-versions = ">=3.9"
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 description = "Extensions to the standard Python datetime module"
 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,>=2.7"
-groups = ["main"]
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 ]
 
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+python-versions = "*"
+groups = ["dev"]
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 version = "6.0.2"
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 python-versions = ">=3.6"
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 huey = ["huey (>=2)"]
 huggingface-hub = ["huggingface_hub (>=0.22)"]
 langchain = ["langchain (>=0.0.210)"]
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 launchdarkly = ["launchdarkly-server-sdk (>=9.8.0)"]
 litestar = ["litestar (>=2.0.0)"]
 loguru = ["loguru (>=0.5)"]
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 description = "Python 2 and 3 compatibility utilities"
 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,>=2.7"
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 [package.dependencies]
@@ -2906,6 +3513,26 @@ postgresql-psycopgbinary = ["psycopg[binary] (>=3.0.7)"]
 pymysql = ["pymysql"]
 sqlcipher = ["sqlcipher3_binary"]
 
+[[package]]
+name = "stack-data"
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+
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+asttokens = ">=2.1.0"
+executing = ">=1.2.0"
+pure-eval = "*"
+
+[package.extras]
+tests = ["cython", "littleutils", "pygments", "pytest", "typeguard"]
+
 [[package]]
 name = "sympy"
 version = "1.13.1"
@@ -3095,6 +3722,28 @@ torch = "2.6.0"
 gdown = ["gdown (>=4.7.3)"]
 scipy = ["scipy"]
 
+[[package]]
+name = "tornado"
+version = "6.5.2"
+description = "Tornado is a Python web framework and asynchronous networking library, originally developed at FriendFeed."
+optional = false
+python-versions = ">=3.9"
+groups = ["dev"]
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+]
+
 [[package]]
 name = "tqdm"
 version = "4.67.1"
@@ -3117,6 +3766,22 @@ notebook = ["ipywidgets (>=6)"]
 slack = ["slack-sdk"]
 telegram = ["requests"]
 
+[[package]]
+name = "traitlets"
+version = "5.14.3"
+description = "Traitlets Python configuration system"
+optional = false
+python-versions = ">=3.8"
+groups = ["dev"]
+files = [
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+test = ["argcomplete (>=3.0.3)", "mypy (>=1.7.0)", "pre-commit", "pytest (>=7.0,<8.2)", "pytest-mock", "pytest-mypy-testing"]
+
 [[package]]
 name = "transforms3d"
 version = "0.4.2"
@@ -3155,37 +3820,36 @@ tutorials = ["matplotlib", "pandas", "tabulate"]
 
 [[package]]
 name = "typed-argument-parser"
-version = "1.10.1"
+version = "1.11.0"
 description = "Typed Argument Parser"
 optional = false
-python-versions = ">=3.8"
+python-versions = ">=3.9"
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 typing-inspect = ">=0.7.1"
 
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-dev-no-pydantic = ["flake8", "pytest", "pytest-cov"]
+dev-no-pydantic = ["black", "flake8", "pytest", "pytest-cov"]
 
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 name = "typing-extensions"
-version = "4.14.1"
+version = "4.15.0"
 description = "Backported and Experimental Type Hints for Python 3.9+"
 optional = false
 python-versions = ">=3.9"
-groups = ["main", "test"]
+groups = ["main", "dev", "test"]
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-markers = {test = "python_version == \"3.10\""}
+markers = {dev = "python_version == \"3.10\" or python_version == \"3.11\"", test = "python_version == \"3.10\""}
 
 [[package]]
 name = "typing-inspect"
@@ -3297,6 +3961,18 @@ perf = ["orjson"]
 sweeps = ["sweeps (>=0.2.0)"]
 workspaces = ["wandb-workspaces"]
 
+[[package]]
+name = "wcwidth"
+version = "0.2.14"
+description = "Measures the displayed width of unicode strings in a terminal"
+optional = false
+python-versions = ">=3.6"
+groups = ["dev"]
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 [[package]]
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 version = "3.23.0"
@@ -3319,118 +3995,117 @@ type = ["pytest-mypy"]
 
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+version = "0.25.0"
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 ]
 
-[package.dependencies]
-cffi = {version = ">=1.11", markers = "platform_python_implementation == \"PyPy\""}
-
 [package.extras]
-cffi = ["cffi (>=1.11)"]
+cffi = ["cffi (>=1.17,<2.0) ; platform_python_implementation != \"PyPy\" and python_version < \"3.14\"", "cffi (>=2.0.0b) ; platform_python_implementation != \"PyPy\" and python_version >= \"3.14\""]
 
 [metadata]
 lock-version = "2.1"
 python-versions = "^3.10"
-content-hash = "683fdebe52227977bb876e41aec9443743e4033ad7ef404db1e5ed2c544ad4fb"
+content-hash = "4e4c26cf7c2c0d89bd3e741f04690d005220f600a129cdc6c5898865ae06054c"
diff --git a/pyproject.toml b/pyproject.toml
index 00085bd..6b16afb 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -36,6 +36,7 @@ torchvision = "^0.21.0"
 
 [tool.poetry.group.dev.dependencies]
 ruff = "^0.8.0"
+ipykernel = "^6.29.5"
 
 [tool.poetry.group.test.dependencies]
 pytest = "^8.3.3"
diff --git a/soccer_diffusion/dataset/analyze_db.ipynb b/soccer_diffusion/dataset/analyze_db.ipynb
new file mode 100644
index 0000000..0650708
--- /dev/null
+++ b/soccer_diffusion/dataset/analyze_db.ipynb
@@ -0,0 +1,449 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Analyze database\n",
+    "This notebook is used to analyze the database ant its recordings."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import sqlite3\n",
+    "from datetime import datetime\n",
+    "from typing import TypedDict\n",
+    "\n",
+    "import pandas as pd\n",
+    "from ddlitlab2024 import DB_PATH"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# DB_PATH = Path(\"/srv/ssd_nvm/dataset/ddlitlab2024/db/robocup_2024_german_open_2025.sqlite3\")  # TODO Remove me"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Analyzing /srv/ssd_nvm/dataset/ddlitlab2024/db/robocup_2024_german_open_2025.sqlite3\n"
+     ]
+    }
+   ],
+   "source": [
+    "print(f\"Analyzing {DB_PATH}\")\n",
+    "\n",
+    "# Connect read-only to the SQLite database\n",
+    "conn = sqlite3.connect(f\"file:{DB_PATH}?mode=ro\", uri=True)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Gather metrics:\n",
+    "- Duration [s]\n",
+    "- Image samples\n",
+    "- Rotation samples\n",
+    "- Joint state samples\n",
+    "- Joint command samples\n",
+    "- Game state samples\n",
+    "- Total number of (previous) samples"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "class Metric(TypedDict):\n",
+    "    name: str\n",
+    "    duration_s: float\n",
+    "    num_images: int\n",
+    "    num_rotations: int\n",
+    "    num_joint_states: int\n",
+    "    num_joint_commands: int\n",
+    "    num_game_states: int\n",
+    "    num_messages: int"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Iterate over all recordings in the database and gather metrics\n",
+    "def gather_metrics() -> pd.DataFrame:\n",
+    "    # Get all recordings\n",
+    "    recordings = conn.execute(\"SELECT _id, original_file, start_time, end_time FROM Recording\").fetchall()\n",
+    "    metrics = []\n",
+    "\n",
+    "    for recording in recordings:\n",
+    "        recording_id = recording[0]\n",
+    "\n",
+    "        duration_s = (datetime.fromisoformat(recording[3]) - datetime.fromisoformat(recording[2])).total_seconds()\n",
+    "\n",
+    "        # Get the number of images\n",
+    "        num_images = conn.execute(\"SELECT COUNT(*) FROM Image WHERE recording_id = ?\", (recording_id,)).fetchone()[0]\n",
+    "\n",
+    "        # Get the number of IMU messages\n",
+    "        num_rotations = conn.execute(\n",
+    "            \"SELECT COUNT(*) FROM Rotation WHERE recording_id = ?\", (recording_id,)\n",
+    "        ).fetchone()[0]\n",
+    "\n",
+    "        # Get the number of joint states\n",
+    "        num_joint_states = conn.execute(\n",
+    "            \"SELECT COUNT(*) FROM JointStates WHERE recording_id = ?\", (recording_id,)\n",
+    "        ).fetchone()[0]\n",
+    "\n",
+    "        # Get the number of joint commands\n",
+    "        num_joint_commands = conn.execute(\n",
+    "            \"SELECT COUNT(*) FROM JointCommands WHERE recording_id = ?\", (recording_id,)\n",
+    "        ).fetchone()[0]\n",
+    "\n",
+    "        # Get the number of game states\n",
+    "        num_game_states = conn.execute(\n",
+    "            \"SELECT COUNT(*) FROM GameState WHERE recording_id = ?\", (recording_id,)\n",
+    "        ).fetchone()[0]\n",
+    "\n",
+    "        # Get the number of messages\n",
+    "        num_messages = num_images + num_rotations + num_joint_states + num_joint_commands + num_game_states\n",
+    "        metrics.append(\n",
+    "            Metric(\n",
+    "                name=recording[1],\n",
+    "                duration_s=duration_s,\n",
+    "                num_images=num_images,\n",
+    "                num_rotations=num_rotations,\n",
+    "                num_joint_states=num_joint_states,\n",
+    "                num_joint_commands=num_joint_commands,\n",
+    "                num_game_states=num_game_states,\n",
+    "                num_messages=num_messages,\n",
+    "            )\n",
+    "        )\n",
+    "\n",
+    "    return pd.DataFrame(metrics)\n",
+    "\n",
+    "\n",
+    "df = gather_metrics()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 6,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "df.to_csv(\"metrics_db.csv\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 15,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "df[\"duration_m\"] = df[\"duration_s\"] / 60"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 16,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/html": [
+       "<div>\n",
+       "<style scoped>\n",
+       "    .dataframe tbody tr th:only-of-type {\n",
+       "        vertical-align: middle;\n",
+       "    }\n",
+       "\n",
+       "    .dataframe tbody tr th {\n",
+       "        vertical-align: top;\n",
+       "    }\n",
+       "\n",
+       "    .dataframe thead th {\n",
+       "        text-align: right;\n",
+       "    }\n",
+       "</style>\n",
+       "<table border=\"1\" class=\"dataframe\">\n",
+       "  <thead>\n",
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+       "      <th></th>\n",
+       "      <th>name</th>\n",
+       "      <th>duration_s</th>\n",
+       "      <th>num_images</th>\n",
+       "      <th>num_rotations</th>\n",
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+       "      <th>num_messages</th>\n",
+       "      <th>duration_m</th>\n",
+       "    </tr>\n",
+       "  </thead>\n",
+       "  <tbody>\n",
+       "    <tr>\n",
+       "      <th>80</th>\n",
+       "      <td>ID_donna_2025-03-16T13:50:58_0.mcap</td>\n",
+       "      <td>4598.725709</td>\n",
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+       "      <td>229777</td>\n",
+       "      <td>6280</td>\n",
+       "      <td>741565</td>\n",
+       "      <td>76.645428</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>59</th>\n",
+       "      <td>ID_rory_2025-03-16T14:02:56_0.mcap</td>\n",
+       "      <td>3791.524157</td>\n",
+       "      <td>37894</td>\n",
+       "      <td>189473</td>\n",
+       "      <td>189473</td>\n",
+       "      <td>189473</td>\n",
+       "      <td>5053</td>\n",
+       "      <td>611366</td>\n",
+       "      <td>63.192069</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>27</th>\n",
+       "      <td>ID_rory_2024-07-19T17:45:15_0.mcap</td>\n",
+       "      <td>1903.966492</td>\n",
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+       "      <td>94395</td>\n",
+       "      <td>94395</td>\n",
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+       "      <td>305335</td>\n",
+       "      <td>31.732775</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>35</th>\n",
+       "      <td>ID_donna_2024-07-20T15:26:55_0.mcap</td>\n",
+       "      <td>1328.308035</td>\n",
+       "      <td>8127</td>\n",
+       "      <td>65443</td>\n",
+       "      <td>65443</td>\n",
+       "      <td>65443</td>\n",
+       "      <td>2466</td>\n",
+       "      <td>206922</td>\n",
+       "      <td>22.138467</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>82</th>\n",
+       "      <td>ID_rory_2025-03-13T10:53:00_0.mcap</td>\n",
+       "      <td>1290.537316</td>\n",
+       "      <td>12608</td>\n",
+       "      <td>63045</td>\n",
+       "      <td>63045</td>\n",
+       "      <td>63045</td>\n",
+       "      <td>2271</td>\n",
+       "      <td>204014</td>\n",
+       "      <td>21.508955</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>...</th>\n",
+       "      <td>...</td>\n",
+       "      <td>...</td>\n",
+       "      <td>...</td>\n",
+       "      <td>...</td>\n",
+       "      <td>...</td>\n",
+       "      <td>...</td>\n",
+       "      <td>...</td>\n",
+       "      <td>...</td>\n",
+       "      <td>...</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>10</th>\n",
+       "      <td>ID_jack_2024-07-18T18:29:35_0.mcap</td>\n",
+       "      <td>54.169400</td>\n",
+       "      <td>369</td>\n",
+       "      <td>1852</td>\n",
+       "      <td>1852</td>\n",
+       "      <td>1852</td>\n",
+       "      <td>66</td>\n",
+       "      <td>5991</td>\n",
+       "      <td>0.902823</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>57</th>\n",
+       "      <td>ID_jack_2024-07-20T15:47:38_0.mcap</td>\n",
+       "      <td>47.663031</td>\n",
+       "      <td>332</td>\n",
+       "      <td>1676</td>\n",
+       "      <td>1676</td>\n",
+       "      <td>1676</td>\n",
+       "      <td>8</td>\n",
+       "      <td>5368</td>\n",
+       "      <td>0.794384</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>12</th>\n",
+       "      <td>ID_jack_2024-07-18T18:42:01_0.mcap</td>\n",
+       "      <td>43.044205</td>\n",
+       "      <td>309</td>\n",
+       "      <td>1550</td>\n",
+       "      <td>1550</td>\n",
+       "      <td>1550</td>\n",
+       "      <td>53</td>\n",
+       "      <td>5012</td>\n",
+       "      <td>0.717403</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>20</th>\n",
+       "      <td>ID_rory_2024-07-18T13:52:36_0.mcap</td>\n",
+       "      <td>39.836062</td>\n",
+       "      <td>237</td>\n",
+       "      <td>1191</td>\n",
+       "      <td>1191</td>\n",
+       "      <td>1191</td>\n",
+       "      <td>27</td>\n",
+       "      <td>3837</td>\n",
+       "      <td>0.663934</td>\n",
+       "    </tr>\n",
+       "    <tr>\n",
+       "      <th>40</th>\n",
+       "      <td>ID_jack_2024-07-19T18:01:33_0.mcap</td>\n",
+       "      <td>35.146186</td>\n",
+       "      <td>200</td>\n",
+       "      <td>1014</td>\n",
+       "      <td>1014</td>\n",
+       "      <td>1014</td>\n",
+       "      <td>31</td>\n",
+       "      <td>3273</td>\n",
+       "      <td>0.585770</td>\n",
+       "    </tr>\n",
+       "  </tbody>\n",
+       "</table>\n",
+       "<p>88 rows × 9 columns</p>\n",
+       "</div>"
+      ],
+      "text/plain": [
+       "                                   name   duration_s  num_images  \\\n",
+       "80  ID_donna_2025-03-16T13:50:58_0.mcap  4598.725709       45954   \n",
+       "59   ID_rory_2025-03-16T14:02:56_0.mcap  3791.524157       37894   \n",
+       "27   ID_rory_2024-07-19T17:45:15_0.mcap  1903.966492       18877   \n",
+       "35  ID_donna_2024-07-20T15:26:55_0.mcap  1328.308035        8127   \n",
+       "82   ID_rory_2025-03-13T10:53:00_0.mcap  1290.537316       12608   \n",
+       "..                                  ...          ...         ...   \n",
+       "10   ID_jack_2024-07-18T18:29:35_0.mcap    54.169400         369   \n",
+       "57   ID_jack_2024-07-20T15:47:38_0.mcap    47.663031         332   \n",
+       "12   ID_jack_2024-07-18T18:42:01_0.mcap    43.044205         309   \n",
+       "20   ID_rory_2024-07-18T13:52:36_0.mcap    39.836062         237   \n",
+       "40   ID_jack_2024-07-19T18:01:33_0.mcap    35.146186         200   \n",
+       "\n",
+       "    num_rotations  num_joint_states  num_joint_commands  num_game_states  \\\n",
+       "80         229777            229777              229777             6280   \n",
+       "59         189473            189473              189473             5053   \n",
+       "27          94395             94395               94395             3273   \n",
+       "35          65443             65443               65443             2466   \n",
+       "82          63045             63045               63045             2271   \n",
+       "..            ...               ...                 ...              ...   \n",
+       "10           1852              1852                1852               66   \n",
+       "57           1676              1676                1676                8   \n",
+       "12           1550              1550                1550               53   \n",
+       "20           1191              1191                1191               27   \n",
+       "40           1014              1014                1014               31   \n",
+       "\n",
+       "    num_messages  duration_m  \n",
+       "80        741565   76.645428  \n",
+       "59        611366   63.192069  \n",
+       "27        305335   31.732775  \n",
+       "35        206922   22.138467  \n",
+       "82        204014   21.508955  \n",
+       "..           ...         ...  \n",
+       "10          5991    0.902823  \n",
+       "57          5368    0.794384  \n",
+       "12          5012    0.717403  \n",
+       "20          3837    0.663934  \n",
+       "40          3273    0.585770  \n",
+       "\n",
+       "[88 rows x 9 columns]"
+      ]
+     },
+     "execution_count": 16,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "df = df.sort_values(by=\"duration_s\", ascending=False)\n",
+    "df"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "duration_s & 35.15 & 619.25±665.74 & 4598.73 & 54493.99\\\\\n",
+      "num_images & 200 & 5952±6638 & 45954 & 523819\\\\\n",
+      "num_rotations & 1014 & 30147±33378 & 229777 & 2652975\\\\\n",
+      "num_joint_states & 1014 & 30147±33378 & 229777 & 2652975\\\\\n",
+      "num_joint_commands & 1014 & 30147±33378 & 229777 & 2652975\\\\\n",
+      "num_game_states & 1 & 939±1001 & 6280 & 82638\\\\\n",
+      "num_messages & 3273 & 97334±107712 & 741565 & 8565382\\\\\n",
+      "duration_m & 0.59 & 10.32±11.10 & 76.65 & 908.23\\\\\n"
+     ]
+    }
+   ],
+   "source": [
+    "# Print latex for each column\n",
+    "for column in df.columns:\n",
+    "    if column == \"name\":\n",
+    "        continue\n",
+    "    if column in [\"duration_s\", \"duration_m\"]:\n",
+    "        print(\n",
+    "            f\"{column} & {df[column].min():.2f} & {df[column].mean():.2f}±{df[column].std():.2f} & {df[column].max():.2f} & {df[column].sum():.2f}\\\\\\\\\"  # noqa: E501\n",
+    "        )\n",
+    "    else:\n",
+    "        print(\n",
+    "            f\"{column} & {df[column].min():.0f} & {df[column].mean():.0f}±{df[column].std():.0f} & {df[column].max():.0f} & {df[column].sum():.0f}\\\\\\\\\"  # noqa: E501\n",
+    "        )"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "ddlitlab2024-bN9lk4bc-py3.10",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.12"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/soccer_diffusion/dataset/analyze_raw_data.ipynb b/soccer_diffusion/dataset/analyze_raw_data.ipynb
new file mode 100644
index 0000000..52ce2d5
--- /dev/null
+++ b/soccer_diffusion/dataset/analyze_raw_data.ipynb
@@ -0,0 +1,343 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Analyze raw data\n",
+    "This notebook is used to analyze the ROS 2 Bags that were used to create the given database."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# import sqlite3\n",
+    "from pathlib import Path\n",
+    "from typing import TypedDict\n",
+    "\n",
+    "import pandas as pd\n",
+    "# from mcap.reader import make_reader\n",
+    "# from mcap.summary import Summary\n",
+    "# from mcap_ros2.decoder import DecoderFactory\n",
+    "\n",
+    "# from soccer_diffusion import DB_PATH"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# BASE_DIR = Path(\"/srv/data/data.bit-bots.de/ROSbags/\")  # Same as https://data.bit-bots.de/ROSbags/"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# DB_PATH = Path(\"/srv/ssd_nvm/dataset/ddlitlab2024/db/robocup_2024_german_open_2025.sqlite3\")  # TODO Remove me"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Connect read-only to the SQLite database\n",
+    "# conn = sqlite3.connect(f\"file:{DB_PATH}?mode=ro\", uri=True)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Get mcaps used by the database\n",
+    "# query = \"\"\"\n",
+    "# SELECT original_file FROM Recording;\n",
+    "# \"\"\"\n",
+    "# files = pd.DataFrame()\n",
+    "# files[\"mcap_file_name\"] = pd.read_sql_query(query, conn)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Find the full file paths recursively contained in the following directory\n",
+    "# def find_file(file_name):\n",
+    "#    candidates = []\n",
+    "#    for path in BASE_DIR.rglob(file_name):\n",
+    "#        candidates.append(path)\n",
+    "#    if len(candidates) == 0:\n",
+    "#        print(f\"File {file_name} not found\")\n",
+    "#        return None\n",
+    "#    elif len(candidates) == 1:\n",
+    "#        return candidates[0]\n",
+    "#    elif len(candidates) == 2:\n",
+    "#        # Use the \"untrimmed\" version of the file if it exists\n",
+    "#        for candidate in candidates:\n",
+    "#            if \"untrimmed\" in str(candidate):\n",
+    "#                return candidate\n",
+    "#        print(f\"File {file_name} found multiple times: {candidates}\")\n",
+    "#        return None\n",
+    "#    else:\n",
+    "#        print(f\"File {file_name} found multiple times: {candidates}\")\n",
+    "#        return None\n",
+    "#\n",
+    "#\n",
+    "## Find the full file paths for each mcap file\n",
+    "# files[\"mcap_file_path\"] = files[\"mcap_file_name\"].apply(find_file)\n",
+    "# assert files[\"mcap_file_path\"].notnull().all(), \"Some mcap files were not found\"\n",
+    "# files.to_csv(\"mcap_files.csv\", index=False)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# files = pd.read_csv(\"mcap_files.csv\")"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Gather metrics:\n",
+    "- Amount [B]\n",
+    "- Duration [s]\n",
+    "- Image messages\n",
+    "- IMU messages\n",
+    "- Joint state messages\n",
+    "- Joint command messages\n",
+    "- Game state messages\n",
+    "- Total number of (previous) messages"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Preparations\n",
+    "\n",
+    "\n",
+    "class Metric(TypedDict):\n",
+    "    mcap_file_name: str\n",
+    "    mcap_file_path: Path\n",
+    "    mcap_file_size_B: int\n",
+    "    duration_s: float\n",
+    "    num_images: int\n",
+    "    num_imu: int\n",
+    "    num_joint_states: int\n",
+    "    num_joint_commands: int\n",
+    "    num_game_states: int\n",
+    "    num_messages: int\n",
+    "\n",
+    "\n",
+    "# @contextmanager\n",
+    "# def _mcap_reader(mcap_file_path: Path):\n",
+    "#     with open(mcap_file_path, \"rb\") as f:\n",
+    "#         yield make_reader(f, decoder_factories=[DecoderFactory()])\n",
+    "#\n",
+    "#\n",
+    "# def duration(summary: Summary) -> timedelta:\n",
+    "#     first_msg_start_time = None\n",
+    "#     last_msg_end_time = None\n",
+    "#\n",
+    "#     for chunk_index in summary.chunk_indexes:\n",
+    "#         if first_msg_start_time is None or chunk_index.message_start_time < first_msg_start_time:\n",
+    "#             first_msg_start_time = chunk_index.message_start_time\n",
+    "#         if last_msg_end_time is None or chunk_index.message_end_time > last_msg_end_time:\n",
+    "#             last_msg_end_time = chunk_index.message_end_time\n",
+    "#\n",
+    "#     assert first_msg_start_time is not None, \"No start time found in the MCAP file\"\n",
+    "#     assert last_msg_end_time is not None, \"No end time found in the MCAP file\"\n",
+    "#\n",
+    "#     return datetime.fromtimestamp(last_msg_end_time / 1e9) - datetime.fromtimestamp(first_msg_start_time / 1e9)\n",
+    "#\n",
+    "#\n",
+    "# USED_TOPICS = [\n",
+    "#     \"/DynamixelController/command\",\n",
+    "#     \"/camera/image_proc\",\n",
+    "#     \"/camera/image_to_record\",\n",
+    "#     \"/gamestate\",\n",
+    "#     \"/imu/data\",\n",
+    "#     \"/joint_states\",\n",
+    "#     \"/tf\",\n",
+    "# ]"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# def get_metrics(file_path: Path) -> Metric:\n",
+    "#     with _mcap_reader(file_path) as reader:\n",
+    "#         summary = reader.get_summary()\n",
+    "#         assert summary is not None, \"Summary is None\"\n",
+    "#\n",
+    "#         has_imu_data = any(channel.topic == \"/imu/data\" for channel in summary.channels.values())\n",
+    "#\n",
+    "#         metric: Metric = {\n",
+    "#             \"mcap_file_name\": file_path.name,\n",
+    "#             \"mcap_file_path\": file_path,\n",
+    "#             \"mcap_file_size_B\": file_path.stat().st_size,\n",
+    "#             \"duration_s\": duration(summary).total_seconds(),\n",
+    "#             \"num_images\": 0,\n",
+    "#             \"num_imu\": 0,\n",
+    "#             \"num_joint_states\": 0,\n",
+    "#             \"num_joint_commands\": 0,\n",
+    "#             \"num_game_states\": 0,\n",
+    "#             \"num_messages\": 0,\n",
+    "#         }\n",
+    "#\n",
+    "#         for _, channel, _, ros_msg in reader.iter_decoded_messages(topics=USED_TOPICS):\n",
+    "#             if channel.topic == \"/camera/image_proc\":\n",
+    "#                 metric[\"num_images\"] += 1\n",
+    "#             elif channel.topic == \"/imu/data\" and has_imu_data:\n",
+    "#                 metric[\"num_imu\"] += 1\n",
+    "#             elif channel.topic == \"/joint_states\":\n",
+    "#                 metric[\"num_joint_states\"] += 1\n",
+    "#             elif channel.topic == \"/DynamixelController/command\":\n",
+    "#                 metric[\"num_joint_commands\"] += 1\n",
+    "#             elif channel.topic == \"/gamestate\":\n",
+    "#                 metric[\"num_game_states\"] += 1\n",
+    "#             elif channel.topic == \"/tf\" and not has_imu_data:\n",
+    "#                 for tf_msg in ros_msg.transforms:\n",
+    "#                     if tf_msg.child_frame_id == \"base_footprint\" and tf_msg.header.frame_id == \"base_link\":\n",
+    "#                         metric[\"num_imu\"] += 1\n",
+    "#             else:\n",
+    "#                 pass\n",
+    "#\n",
+    "#         metric[\"num_messages\"] = (\n",
+    "#             metric[\"num_images\"]\n",
+    "#             + metric[\"num_imu\"]\n",
+    "#             + metric[\"num_joint_states\"]\n",
+    "#             + metric[\"num_joint_commands\"]\n",
+    "#             + metric[\"num_game_states\"]\n",
+    "#         )\n",
+    "#\n",
+    "#         return metric"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# For every file, get the metrics\n",
+    "# metrics = pd.DataFrame()\n",
+    "# metrics = pd.read_csv(\"raw_data_metrics.csv\")\n",
+    "# for _, row in files.iterrows():\n",
+    "#     if row[\"mcap_file_name\"] in metrics[\"mcap_file_name\"].values:\n",
+    "#         print(f\"Skipping {row['mcap_file_name']} because it is already processed\")\n",
+    "#         continue\n",
+    "#     print(f\"Processing {row['mcap_file_name']}...\")\n",
+    "#     if pd.isna(row[\"mcap_file_path\"]):\n",
+    "#         print(f\"Skipping {row['mcap_file_name']} because file path is NaN\")\n",
+    "#         continue\n",
+    "#     file_path = Path(row[\"mcap_file_path\"])\n",
+    "#     if not file_path.exists():\n",
+    "#         print(f\"Skipping {row['mcap_file_name']} because file {file_path} does not exist\")\n",
+    "#         continue\n",
+    "#     metric = get_metrics(file_path)\n",
+    "#     metrics = pd.concat([metrics, pd.DataFrame([metric])], ignore_index=True)\n",
+    "#     metrics.to_csv(\"raw_data_metrics.csv\", index=False)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Describe the metrics"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "df = pd.read_csv(\"raw_data_metrics.csv\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "df[\"duration_m\"] = df[\"duration_s\"] / 60\n",
+    "df[\"mcap_file_size_MB\"] = df[\"mcap_file_size_B\"] / (1024 * 1024)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "df = df.sort_values(by=\"duration_s\", ascending=False)\n",
+    "df"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Print latex for each column\n",
+    "for column in df.columns:\n",
+    "    if column in [\"mcap_file_name\", \"mcap_file_path\"]:\n",
+    "        continue\n",
+    "    if column in [\"duration_s\", \"duration_m\"]:\n",
+    "        print(\n",
+    "            f\"{column} & {df[column].min():.2f} & {df[column].mean():.2f}±{df[column].std():.2f} & {df[column].max():.2f} & {df[column].sum():.2f}\\\\\\\\\"  # noqa: E501\n",
+    "        )\n",
+    "    else:\n",
+    "        print(\n",
+    "            f\"{column} & {df[column].min():.0f} & {df[column].mean():.0f}±{df[column].std():.0f} & {df[column].max():.0f} & {df[column].sum():.0f}\\\\\\\\\"  # noqa: E501\n",
+    "        )"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "soccer-diffusion-BHG-jKSn-py3.12",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.12.3"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/soccer_diffusion/dataset/raw_data_metrics.csv b/soccer_diffusion/dataset/raw_data_metrics.csv
new file mode 100644
index 0000000..0a32b19
--- /dev/null
+++ b/soccer_diffusion/dataset/raw_data_metrics.csv
@@ -0,0 +1,89 @@
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