diff --git a/episode_0027/servo_data.json b/episode_0027/servo_data.json
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+{"task": "Flip cup upside down", "fps": 30, "frames": [{"t": 0.0127, "i": 0, "pos": {"shoulder_pan.pos": -3.3, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.7, "wrist_roll.pos": 0.6, "gripper.pos": 0.1}}, {"t": 0.0602, "i": 1, "pos": {"shoulder_pan.pos": -3.3, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.7, "wrist_roll.pos": 0.6, "gripper.pos": 0.1}}, {"t": 0.105, "i": 2, "pos": {"shoulder_pan.pos": -3.3, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.7, "wrist_roll.pos": 0.6, "gripper.pos": 0.1}}, {"t": 0.1502, "i": 3, "pos": {"shoulder_pan.pos": -3.3, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.7, "wrist_roll.pos": 0.6, "gripper.pos": 0.1}}, {"t": 0.2005, "i": 4, "pos": {"shoulder_pan.pos": -3.3, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 92.2, "wrist_flex.pos": 74.7, "wrist_roll.pos": 0.6, "gripper.pos": 0.1}}, {"t": 0.2478, "i": 5, "pos": {"shoulder_pan.pos": -3.3, 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{"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -85.5, "elbow_flex.pos": 90.8, "wrist_flex.pos": 60.9, "wrist_roll.pos": 0.8, "gripper.pos": 0.1}}, {"t": 1.0698, "i": 23, "pos": {"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -77.1, "elbow_flex.pos": 87.5, "wrist_flex.pos": 55.3, "wrist_roll.pos": 0.8, "gripper.pos": 0.1}}, {"t": 1.1158, "i": 24, "pos": {"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -72.9, "elbow_flex.pos": 84.9, "wrist_flex.pos": 53.4, "wrist_roll.pos": 0.8, "gripper.pos": 0.1}}, {"t": 1.1591, "i": 25, "pos": {"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -69.0, "elbow_flex.pos": 81.9, "wrist_flex.pos": 52.5, "wrist_roll.pos": 0.8, "gripper.pos": 0.1}}, {"t": 1.2017, "i": 26, "pos": {"shoulder_pan.pos": -6.9, "shoulder_lift.pos": -65.7, "elbow_flex.pos": 78.6, "wrist_flex.pos": 52.3, "wrist_roll.pos": 1.5, "gripper.pos": 0.1}}, {"t": 1.2452, "i": 27, "pos": {"shoulder_pan.pos": -7.3, "shoulder_lift.pos": -62.5, "elbow_flex.pos": 75.4, "wrist_flex.pos": 52.4, 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