diff --git a/episode_0000/servo_data.json b/episode_0000/servo_data.json
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+{"task": "Flip cup upside down", "fps": 30, "frames": [{"t": 0.0215, "i": 0, "pos": {"shoulder_pan.pos": -4.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 73.9, "wrist_roll.pos": -0.4, "gripper.pos": 0.3}}, {"t": 0.0656, "i": 1, "pos": {"shoulder_pan.pos": -4.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 73.9, "wrist_roll.pos": -0.4, "gripper.pos": 0.3}}, {"t": 0.1082, "i": 2, "pos": {"shoulder_pan.pos": -4.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 73.9, "wrist_roll.pos": -0.4, "gripper.pos": 0.3}}, {"t": 0.1557, "i": 3, "pos": {"shoulder_pan.pos": -4.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 73.9, "wrist_roll.pos": -0.4, "gripper.pos": 0.3}}, {"t": 0.1998, "i": 4, "pos": {"shoulder_pan.pos": -4.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 73.9, "wrist_roll.pos": -0.4, "gripper.pos": 0.3}}, {"t": 0.2438, "i": 5, "pos": {"shoulder_pan.pos": -4.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 73.9, "wrist_roll.pos": -0.4, "gripper.pos": 0.3}}, {"t": 0.294, "i": 6, "pos": {"shoulder_pan.pos": -4.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 73.9, "wrist_roll.pos": -0.4, "gripper.pos": 0.3}}, {"t": 0.342, "i": 7, "pos": {"shoulder_pan.pos": -4.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 73.9, "wrist_roll.pos": -0.4, "gripper.pos": 0.3}}, {"t": 0.3848, "i": 8, "pos": {"shoulder_pan.pos": -4.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 73.9, "wrist_roll.pos": -0.4, "gripper.pos": 0.3}}, {"t": 0.4286, "i": 9, "pos": {"shoulder_pan.pos": -4.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 73.9, "wrist_roll.pos": -0.4, "gripper.pos": 0.3}}, {"t": 0.4718, "i": 10, "pos": {"shoulder_pan.pos": -4.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 73.9, "wrist_roll.pos": -0.3, "gripper.pos": 0.3}}, {"t": 0.5144, "i": 11, "pos": {"shoulder_pan.pos": -4.3, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 73.9, "wrist_roll.pos": -0.3, "gripper.pos": 0.3}}, {"t": 0.5604, "i": 12, "pos": {"shoulder_pan.pos": -4.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 74.0, "wrist_roll.pos": -0.3, "gripper.pos": 0.3}}, {"t": 0.6035, "i": 13, "pos": {"shoulder_pan.pos": -4.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 74.0, "wrist_roll.pos": -0.3, "gripper.pos": 0.3}}, {"t": 0.6507, "i": 14, "pos": {"shoulder_pan.pos": -4.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 74.0, "wrist_roll.pos": -0.3, "gripper.pos": 0.3}}, {"t": 0.694, "i": 15, "pos": {"shoulder_pan.pos": -4.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 74.0, "wrist_roll.pos": -0.3, "gripper.pos": 0.3}}, {"t": 0.7466, "i": 16, "pos": {"shoulder_pan.pos": -4.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 74.0, "wrist_roll.pos": -0.3, "gripper.pos": 0.3}}, {"t": 0.794, "i": 17, "pos": {"shoulder_pan.pos": -4.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 74.0, "wrist_roll.pos": -0.3, "gripper.pos": 0.3}}, {"t": 0.8369, "i": 18, "pos": {"shoulder_pan.pos": -4.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 74.0, "wrist_roll.pos": -0.3, "gripper.pos": 0.3}}, {"t": 0.8862, "i": 19, "pos": {"shoulder_pan.pos": -4.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 74.0, "wrist_roll.pos": -0.3, "gripper.pos": 0.3}}, {"t": 0.9306, "i": 20, "pos": {"shoulder_pan.pos": -4.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 74.0, "wrist_roll.pos": -0.3, "gripper.pos": 0.3}}, {"t": 0.9753, "i": 21, "pos": {"shoulder_pan.pos": -4.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 74.0, "wrist_roll.pos": -0.3, "gripper.pos": 0.3}}, {"t": 1.0211, "i": 22, "pos": {"shoulder_pan.pos": -4.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 74.0, "wrist_roll.pos": -0.3, "gripper.pos": 0.3}}, {"t": 1.0669, "i": 23, "pos": {"shoulder_pan.pos": -4.5, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 74.2, "wrist_roll.pos": -0.3, "gripper.pos": 0.3}}, {"t": 1.1129, "i": 24, "pos": {"shoulder_pan.pos": -4.5, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 73.9, "wrist_roll.pos": -0.2, "gripper.pos": 0.3}}, {"t": 1.1575, "i": 25, "pos": {"shoulder_pan.pos": -4.5, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 73.9, "wrist_roll.pos": -0.1, "gripper.pos": 0.3}}, {"t": 1.2026, "i": 26, "pos": {"shoulder_pan.pos": -4.5, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 73.4, "wrist_roll.pos": 1.1, "gripper.pos": 0.4}}, {"t": 1.2476, "i": 27, "pos": {"shoulder_pan.pos": -4.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 72.1, "wrist_roll.pos": 4.2, "gripper.pos": 0.4}}, {"t": 1.2912, "i": 28, "pos": {"shoulder_pan.pos": -3.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.7, "wrist_flex.pos": 70.7, "wrist_roll.pos": 8.4, "gripper.pos": 0.4}}, {"t": 1.3355, "i": 29, "pos": {"shoulder_pan.pos": -3.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.7, "wrist_flex.pos": 69.9, "wrist_roll.pos": 12.2, "gripper.pos": 0.4}}, {"t": 1.38, "i": 30, "pos": {"shoulder_pan.pos": -3.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 69.4, "wrist_roll.pos": 15.3, "gripper.pos": 0.4}}, {"t": 1.423, "i": 31, "pos": {"shoulder_pan.pos": -3.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.1, "wrist_flex.pos": 68.8, "wrist_roll.pos": 17.0, "gripper.pos": 0.4}}, {"t": 1.4663, "i": 32, "pos": {"shoulder_pan.pos": -3.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 91.2, "wrist_flex.pos": 68.1, "wrist_roll.pos": 17.4, "gripper.pos": 0.4}}, {"t": 1.51, "i": 33, "pos": {"shoulder_pan.pos": -3.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 89.5, "wrist_flex.pos": 67.9, "wrist_roll.pos": 17.5, "gripper.pos": 0.4}}, {"t": 1.561, "i": 34, "pos": {"shoulder_pan.pos": -3.6, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 87.4, "wrist_flex.pos": 68.1, "wrist_roll.pos": 17.8, "gripper.pos": 0.4}}, {"t": 1.6064, "i": 35, "pos": {"shoulder_pan.pos": -3.6, "shoulder_lift.pos": -98.5, "elbow_flex.pos": 81.2, "wrist_flex.pos": 69.1, "wrist_roll.pos": 18.4, "gripper.pos": 0.4}}, {"t": 1.6541, "i": 36, "pos": {"shoulder_pan.pos": -3.6, "shoulder_lift.pos": -98.2, "elbow_flex.pos": 77.5, "wrist_flex.pos": 70.1, "wrist_roll.pos": 18.8, "gripper.pos": 0.4}}, {"t": 1.6997, "i": 37, "pos": {"shoulder_pan.pos": -3.6, "shoulder_lift.pos": -98.2, "elbow_flex.pos": 73.9, "wrist_flex.pos": 71.1, "wrist_roll.pos": 19.1, "gripper.pos": 0.4}}, {"t": 1.7431, "i": 38, "pos": {"shoulder_pan.pos": -3.6, "shoulder_lift.pos": -98.2, "elbow_flex.pos": 70.8, "wrist_flex.pos": 72.0, 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