diff --git a/episode_0039/servo_data.json b/episode_0039/servo_data.json
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+{"task": "Flip cup upside down", "fps": 30, "frames": [{"t": 0.0209, "i": 0, "pos": {"shoulder_pan.pos": -7.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 96.2, "wrist_flex.pos": 61.3, "wrist_roll.pos": -2.9, "gripper.pos": 0.3}}, {"t": 0.0666, "i": 1, "pos": {"shoulder_pan.pos": -7.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 96.2, "wrist_flex.pos": 61.3, "wrist_roll.pos": -2.7, "gripper.pos": 0.3}}, {"t": 0.11, "i": 2, "pos": {"shoulder_pan.pos": -7.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 96.2, "wrist_flex.pos": 61.3, "wrist_roll.pos": -2.7, "gripper.pos": 0.3}}, {"t": 0.1597, "i": 3, "pos": {"shoulder_pan.pos": -7.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 96.2, "wrist_flex.pos": 61.3, "wrist_roll.pos": -2.7, "gripper.pos": 0.3}}, {"t": 0.215, "i": 4, "pos": {"shoulder_pan.pos": -7.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 96.2, "wrist_flex.pos": 61.3, "wrist_roll.pos": -2.7, "gripper.pos": 0.3}}, {"t": 0.262, "i": 5, "pos": {"shoulder_pan.pos": -7.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 96.2, "wrist_flex.pos": 61.3, "wrist_roll.pos": -2.7, "gripper.pos": 0.3}}, {"t": 0.3059, "i": 6, "pos": {"shoulder_pan.pos": -7.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 96.2, "wrist_flex.pos": 61.3, "wrist_roll.pos": -2.8, "gripper.pos": 0.3}}, {"t": 0.3528, "i": 7, "pos": {"shoulder_pan.pos": -7.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 96.2, "wrist_flex.pos": 61.3, "wrist_roll.pos": -2.8, "gripper.pos": 0.3}}, {"t": 0.3965, "i": 8, "pos": {"shoulder_pan.pos": -7.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 96.2, "wrist_flex.pos": 61.3, "wrist_roll.pos": -2.7, "gripper.pos": 0.3}}, {"t": 0.4444, "i": 9, "pos": {"shoulder_pan.pos": -7.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 96.2, "wrist_flex.pos": 61.3, "wrist_roll.pos": -2.7, "gripper.pos": 0.3}}, {"t": 0.4907, "i": 10, "pos": {"shoulder_pan.pos": -7.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 96.2, "wrist_flex.pos": 61.3, "wrist_roll.pos": -2.7, "gripper.pos": 0.3}}, {"t": 0.5374, "i": 11, "pos": {"shoulder_pan.pos": -7.8, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 96.2, "wrist_flex.pos": 61.3, "wrist_roll.pos": -2.7, "gripper.pos": 0.3}}, {"t": 0.5884, "i": 12, "pos": {"shoulder_pan.pos": -7.8, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 96.2, "wrist_flex.pos": 61.3, "wrist_roll.pos": -2.7, "gripper.pos": 0.3}}, {"t": 0.6314, "i": 13, "pos": {"shoulder_pan.pos": -7.8, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 96.2, "wrist_flex.pos": 61.3, "wrist_roll.pos": -2.7, "gripper.pos": 0.3}}, {"t": 0.6771, "i": 14, "pos": {"shoulder_pan.pos": -7.8, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 96.2, "wrist_flex.pos": 61.3, "wrist_roll.pos": -2.7, "gripper.pos": 0.3}}, {"t": 0.7213, "i": 15, "pos": {"shoulder_pan.pos": -7.8, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 96.2, "wrist_flex.pos": 60.9, "wrist_roll.pos": -2.7, "gripper.pos": 0.3}}, {"t": 0.765, "i": 16, "pos": {"shoulder_pan.pos": -7.9, "shoulder_lift.pos": -99.2, 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1.0339, "i": 22, "pos": {"shoulder_pan.pos": -15.3, "shoulder_lift.pos": -98.9, "elbow_flex.pos": 96.1, "wrist_flex.pos": 60.7, "wrist_roll.pos": 1.4, "gripper.pos": 0.3}}, {"t": 1.0853, "i": 23, "pos": {"shoulder_pan.pos": -16.4, "shoulder_lift.pos": -98.5, "elbow_flex.pos": 95.7, "wrist_flex.pos": 60.7, "wrist_roll.pos": 2.5, "gripper.pos": 0.3}}, {"t": 1.1285, "i": 24, "pos": {"shoulder_pan.pos": -17.3, "shoulder_lift.pos": -98.2, "elbow_flex.pos": 94.8, "wrist_flex.pos": 60.7, "wrist_roll.pos": 3.4, "gripper.pos": 0.3}}, {"t": 1.1724, "i": 25, "pos": {"shoulder_pan.pos": -18.2, "shoulder_lift.pos": -98.2, "elbow_flex.pos": 94.0, "wrist_flex.pos": 60.7, "wrist_roll.pos": 4.2, "gripper.pos": 0.3}}, {"t": 1.2193, "i": 26, "pos": {"shoulder_pan.pos": -19.0, "shoulder_lift.pos": -98.2, "elbow_flex.pos": 92.8, "wrist_flex.pos": 60.7, "wrist_roll.pos": 4.9, "gripper.pos": 0.3}}, {"t": 1.2647, "i": 27, "pos": {"shoulder_pan.pos": -19.7, "shoulder_lift.pos": -98.1, "elbow_flex.pos": 91.4, 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