diff --git a/episode_0021/servo_data.json b/episode_0021/servo_data.json
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+{"task": "Flip cup upside down", "fps": 30, "frames": [{"t": 0.0179, "i": 0, "pos": {"shoulder_pan.pos": -2.1, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 92.3, "wrist_flex.pos": 74.5, "wrist_roll.pos": -0.1, "gripper.pos": 0.6}}, {"t": 0.0659, "i": 1, "pos": {"shoulder_pan.pos": -2.1, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 92.3, "wrist_flex.pos": 74.5, "wrist_roll.pos": -0.1, "gripper.pos": 0.6}}, {"t": 0.1143, "i": 2, "pos": {"shoulder_pan.pos": -2.1, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 92.3, "wrist_flex.pos": 74.5, "wrist_roll.pos": -0.1, "gripper.pos": 0.6}}, {"t": 0.1631, "i": 3, "pos": {"shoulder_pan.pos": -2.1, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 92.3, "wrist_flex.pos": 74.5, "wrist_roll.pos": -0.1, "gripper.pos": 0.6}}, {"t": 0.208, "i": 4, "pos": {"shoulder_pan.pos": -2.1, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 92.3, "wrist_flex.pos": 74.5, "wrist_roll.pos": -0.1, "gripper.pos": 0.6}}, {"t": 0.2524, "i": 5, "pos": {"shoulder_pan.pos": -2.1, 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