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\ No newline at end of file
diff --git a/episode_0081/servo_data.json b/episode_0081/servo_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6c74de7697c245e71acc27f48464cca08835308
--- /dev/null
+++ b/episode_0081/servo_data.json
@@ -0,0 +1 @@
+{"task": "Pick pen and insert into cup", "fps": 30, "frames": [{"t": 0.0165, "i": 0, "pos": {"shoulder_pan.pos": 2.6, "shoulder_lift.pos": -99.5, "elbow_flex.pos": 92.7, "wrist_flex.pos": 73.5, "wrist_roll.pos": -2.4, "gripper.pos": 2.2}}, {"t": 0.0617, "i": 1, "pos": {"shoulder_pan.pos": 2.7, "shoulder_lift.pos": -99.5, "elbow_flex.pos": 92.7, "wrist_flex.pos": 73.4, "wrist_roll.pos": -2.3, "gripper.pos": 2.5}}, {"t": 0.1103, "i": 2, "pos": {"shoulder_pan.pos": 2.7, "shoulder_lift.pos": -99.5, "elbow_flex.pos": 92.8, "wrist_flex.pos": 73.3, "wrist_roll.pos": -2.3, "gripper.pos": 2.5}}, {"t": 0.1572, "i": 3, "pos": {"shoulder_pan.pos": 2.7, "shoulder_lift.pos": -99.5, "elbow_flex.pos": 92.8, "wrist_flex.pos": 72.6, "wrist_roll.pos": -2.3, "gripper.pos": 2.6}}, {"t": 0.2039, "i": 4, "pos": {"shoulder_pan.pos": 2.8, "shoulder_lift.pos": -99.5, "elbow_flex.pos": 92.8, "wrist_flex.pos": 69.6, "wrist_roll.pos": -2.3, "gripper.pos": 2.6}}, {"t": 0.2489, "i": 5, "pos": {"shoulder_pan.pos": 2.8, "shoulder_lift.pos": -99.5, "elbow_flex.pos": 92.8, "wrist_flex.pos": 67.5, "wrist_roll.pos": -2.2, "gripper.pos": 2.6}}, {"t": 0.2925, "i": 6, "pos": {"shoulder_pan.pos": 2.8, "shoulder_lift.pos": -99.5, "elbow_flex.pos": 92.8, "wrist_flex.pos": 65.2, "wrist_roll.pos": -2.2, "gripper.pos": 2.6}}, {"t": 0.336, "i": 7, "pos": {"shoulder_pan.pos": 2.8, "shoulder_lift.pos": -99.5, "elbow_flex.pos": 92.7, "wrist_flex.pos": 61.0, "wrist_roll.pos": -2.0, "gripper.pos": 2.7}}, {"t": 0.383, "i": 8, "pos": {"shoulder_pan.pos": 2.8, "shoulder_lift.pos": -99.5, "elbow_flex.pos": 92.4, "wrist_flex.pos": 59.4, "wrist_roll.pos": -1.5, "gripper.pos": 2.7}}, {"t": 0.4274, "i": 9, "pos": {"shoulder_pan.pos": 2.7, "shoulder_lift.pos": -99.5, "elbow_flex.pos": 92.3, "wrist_flex.pos": 57.8, "wrist_roll.pos": -0.6, "gripper.pos": 2.7}}, {"t": 0.4767, "i": 10, "pos": {"shoulder_pan.pos": 2.8, "shoulder_lift.pos": -99.5, "elbow_flex.pos": 91.9, "wrist_flex.pos": 54.7, "wrist_roll.pos": 2.1, "gripper.pos": 2.8}}, {"t": 0.52, "i": 11, "pos": {"shoulder_pan.pos": 2.6, "shoulder_lift.pos": -99.5, "elbow_flex.pos": 91.3, "wrist_flex.pos": 53.9, "wrist_roll.pos": 3.7, "gripper.pos": 2.8}}, {"t": 0.5638, "i": 12, "pos": {"shoulder_pan.pos": 2.2, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 90.3, "wrist_flex.pos": 53.8, "wrist_roll.pos": 5.3, "gripper.pos": 2.8}}, {"t": 0.6075, "i": 13, "pos": {"shoulder_pan.pos": 2.8, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 86.9, "wrist_flex.pos": 55.1, "wrist_roll.pos": 7.5, "gripper.pos": 2.8}}, {"t": 0.6513, "i": 14, "pos": {"shoulder_pan.pos": 3.9, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 84.4, "wrist_flex.pos": 56.3, "wrist_roll.pos": 8.3, "gripper.pos": 2.8}}, {"t": 0.6947, "i": 15, "pos": {"shoulder_pan.pos": 5.8, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 81.6, "wrist_flex.pos": 58.0, "wrist_roll.pos": 8.9, "gripper.pos": 2.8}}, {"t": 0.7379, "i": 16, "pos": {"shoulder_pan.pos": 9.1, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 76.1, "wrist_flex.pos": 60.6, "wrist_roll.pos": 9.6, "gripper.pos": 2.8}}, {"t": 0.7838, "i": 17, "pos": {"shoulder_pan.pos": 10.0, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 73.5, "wrist_flex.pos": 61.8, "wrist_roll.pos": 9.8, "gripper.pos": 2.8}}, {"t": 0.8289, "i": 18, "pos": {"shoulder_pan.pos": 10.2, "shoulder_lift.pos": -98.8, "elbow_flex.pos": 71.2, "wrist_flex.pos": 62.8, "wrist_roll.pos": 9.9, "gripper.pos": 2.9}}, {"t": 0.8722, "i": 19, "pos": {"shoulder_pan.pos": 10.6, "shoulder_lift.pos": -95.8, "elbow_flex.pos": 66.6, "wrist_flex.pos": 65.2, "wrist_roll.pos": 10.1, "gripper.pos": 3.4}}, {"t": 0.9202, "i": 20, "pos": {"shoulder_pan.pos": 10.9, "shoulder_lift.pos": -93.4, "elbow_flex.pos": 64.0, "wrist_flex.pos": 66.6, "wrist_roll.pos": 10.2, "gripper.pos": 4.4}}, {"t": 0.967, "i": 21, "pos": {"shoulder_pan.pos": 11.0, "shoulder_lift.pos": -90.3, "elbow_flex.pos": 61.5, "wrist_flex.pos": 68.1, "wrist_roll.pos": 10.3, "gripper.pos": 5.5}}, {"t": 1.0124, 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\ No newline at end of file
diff --git a/episode_0124/servo_data.json b/episode_0124/servo_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..756c52a7c685de21529ae5876d64fb96dc384ade
--- /dev/null
+++ b/episode_0124/servo_data.json
@@ -0,0 +1 @@
+{"task": "Pick pen and insert into cup", "fps": 30, "frames": [{"t": 0.0238, "i": 0, "pos": {"shoulder_pan.pos": -9.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.2, "wrist_roll.pos": 2.7, "gripper.pos": 2.0}}, {"t": 0.0759, "i": 1, "pos": {"shoulder_pan.pos": -9.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.2, "wrist_roll.pos": 2.7, "gripper.pos": 2.0}}, {"t": 0.1373, "i": 2, "pos": {"shoulder_pan.pos": -9.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.2, "wrist_roll.pos": 2.7, "gripper.pos": 2.0}}, {"t": 0.1844, "i": 3, "pos": {"shoulder_pan.pos": -9.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.2, "wrist_roll.pos": 2.7, "gripper.pos": 2.0}}, {"t": 0.234, "i": 4, "pos": {"shoulder_pan.pos": -9.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.2, "wrist_roll.pos": 2.7, "gripper.pos": 2.0}}, {"t": 0.2845, "i": 5, "pos": {"shoulder_pan.pos": -9.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.2, "wrist_roll.pos": 2.7, "gripper.pos": 2.0}}, {"t": 0.3358, "i": 6, "pos": {"shoulder_pan.pos": -9.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.2, "wrist_roll.pos": 2.7, "gripper.pos": 2.0}}, {"t": 0.3838, "i": 7, "pos": {"shoulder_pan.pos": -9.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.2, "wrist_roll.pos": 2.7, "gripper.pos": 2.0}}, {"t": 0.4473, "i": 8, "pos": {"shoulder_pan.pos": -9.5, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.2, "wrist_roll.pos": 2.7, "gripper.pos": 2.0}}, {"t": 0.492, "i": 9, "pos": {"shoulder_pan.pos": -9.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 74.2, "wrist_roll.pos": 2.7, "gripper.pos": 2.0}}, {"t": 0.5533, "i": 10, "pos": {"shoulder_pan.pos": -9.2, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.1, "wrist_flex.pos": 74.2, "wrist_roll.pos": 2.7, 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\ No newline at end of file
diff --git a/episode_0131/servo_data.json b/episode_0131/servo_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ec2096b39f9b0e401219198c2513e567b65b3b5
--- /dev/null
+++ b/episode_0131/servo_data.json
@@ -0,0 +1 @@
+{"task": "Pick pen and insert into cup", "fps": 30, "frames": [{"t": 0.0142, "i": 0, "pos": {"shoulder_pan.pos": 2.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 74.2, "wrist_roll.pos": 0.5, "gripper.pos": 1.8}}, {"t": 0.0577, "i": 1, "pos": {"shoulder_pan.pos": 2.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 74.2, "wrist_roll.pos": 0.5, "gripper.pos": 1.8}}, {"t": 0.1012, "i": 2, "pos": {"shoulder_pan.pos": 2.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 74.2, "wrist_roll.pos": 0.5, "gripper.pos": 1.8}}, {"t": 0.1525, "i": 3, "pos": {"shoulder_pan.pos": 2.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 74.1, "wrist_roll.pos": 0.5, "gripper.pos": 1.8}}, {"t": 0.1967, "i": 4, "pos": {"shoulder_pan.pos": 2.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 74.1, "wrist_roll.pos": 0.5, "gripper.pos": 1.8}}, {"t": 0.2439, "i": 5, "pos": {"shoulder_pan.pos": 2.5, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 73.5, "wrist_roll.pos": 0.5, "gripper.pos": 1.8}}, {"t": 0.2891, "i": 6, "pos": {"shoulder_pan.pos": 2.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 73.4, "wrist_roll.pos": 0.5, "gripper.pos": 1.8}}, {"t": 0.338, "i": 7, "pos": {"shoulder_pan.pos": 2.8, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.6, "wrist_flex.pos": 73.3, "wrist_roll.pos": 0.5, "gripper.pos": 1.8}}, {"t": 0.3916, "i": 8, "pos": {"shoulder_pan.pos": 3.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 71.5, "wrist_roll.pos": 0.5, "gripper.pos": 1.8}}, {"t": 0.4344, "i": 9, "pos": {"shoulder_pan.pos": 4.5, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 70.1, "wrist_roll.pos": 1.0, "gripper.pos": 1.8}}, {"t": 0.4868, "i": 10, "pos": {"shoulder_pan.pos": 7.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 66.1, "wrist_roll.pos": 2.8, "gripper.pos": 1.8}}, {"t": 0.5311, "i": 11, "pos": {"shoulder_pan.pos": 8.5, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 63.6, "wrist_roll.pos": 4.1, "gripper.pos": 1.8}}, {"t": 0.5749, "i": 12, "pos": {"shoulder_pan.pos": 10.5, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.4, "wrist_flex.pos": 61.3, "wrist_roll.pos": 5.7, "gripper.pos": 1.8}}, {"t": 0.6211, "i": 13, "pos": {"shoulder_pan.pos": 16.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.3, "wrist_flex.pos": 57.5, "wrist_roll.pos": 9.8, "gripper.pos": 1.8}}, {"t": 0.6644, "i": 14, "pos": {"shoulder_pan.pos": 18.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.2, "wrist_flex.pos": 55.4, "wrist_roll.pos": 12.1, "gripper.pos": 1.8}}, {"t": 0.7085, "i": 15, "pos": {"shoulder_pan.pos": 20.4, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 91.4, "wrist_flex.pos": 53.6, "wrist_roll.pos": 14.4, "gripper.pos": 1.8}}, {"t": 0.7512, "i": 16, "pos": {"shoulder_pan.pos": 23.7, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 90.1, 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\ No newline at end of file
diff --git a/episode_0143/servo_data.json b/episode_0143/servo_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9af3a49cc3ca6e32183441cd04b3c8ce51cdb33
--- /dev/null
+++ b/episode_0143/servo_data.json
@@ -0,0 +1 @@
+{"task": "Pick pen and insert into cup", "fps": 30, "frames": [{"t": 0.0169, "i": 0, "pos": {"shoulder_pan.pos": 0.3, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 92.8, "wrist_flex.pos": 73.9, "wrist_roll.pos": 5.9, "gripper.pos": 1.6}}, {"t": 0.0632, "i": 1, "pos": {"shoulder_pan.pos": 0.3, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 92.8, "wrist_flex.pos": 73.9, "wrist_roll.pos": 5.9, "gripper.pos": 1.6}}, {"t": 0.1079, "i": 2, "pos": {"shoulder_pan.pos": 0.3, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 92.8, "wrist_flex.pos": 73.8, "wrist_roll.pos": 5.9, "gripper.pos": 1.6}}, {"t": 0.1516, "i": 3, "pos": {"shoulder_pan.pos": 0.3, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 92.8, "wrist_flex.pos": 73.8, "wrist_roll.pos": 5.9, "gripper.pos": 1.6}}, {"t": 0.1947, "i": 4, "pos": {"shoulder_pan.pos": 0.3, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 92.8, "wrist_flex.pos": 73.1, "wrist_roll.pos": 5.9, "gripper.pos": 1.6}}, {"t": 0.2427, "i": 5, "pos": {"shoulder_pan.pos": 0.3, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 93.0, "wrist_flex.pos": 72.0, "wrist_roll.pos": 5.9, "gripper.pos": 1.6}}, {"t": 0.2907, "i": 6, "pos": {"shoulder_pan.pos": 0.3, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 94.2, "wrist_flex.pos": 68.6, "wrist_roll.pos": 5.9, "gripper.pos": 1.6}}, {"t": 0.3338, "i": 7, "pos": {"shoulder_pan.pos": 0.3, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 94.9, "wrist_flex.pos": 65.8, "wrist_roll.pos": 5.9, "gripper.pos": 1.6}}, {"t": 0.3806, "i": 8, "pos": {"shoulder_pan.pos": 0.3, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 96.3, "wrist_flex.pos": 61.1, "wrist_roll.pos": 5.9, "gripper.pos": 1.6}}, {"t": 0.4246, "i": 9, "pos": {"shoulder_pan.pos": 0.2, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 96.4, "wrist_flex.pos": 59.6, "wrist_roll.pos": 5.9, "gripper.pos": 1.6}}, {"t": 0.4674, "i": 10, "pos": {"shoulder_pan.pos": -0.3, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 96.4, "wrist_flex.pos": 58.7, "wrist_roll.pos": 5.9, "gripper.pos": 1.6}}, {"t": 0.5111, "i": 11, "pos": {"shoulder_pan.pos": -2.8, "shoulder_lift.pos": -99.4, "elbow_flex.pos": 95.4, "wrist_flex.pos": 58.4, "wrist_roll.pos": 6.8, "gripper.pos": 1.6}}, {"t": 0.557, "i": 12, "pos": {"shoulder_pan.pos": -4.6, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 94.5, "wrist_flex.pos": 58.8, "wrist_roll.pos": 7.9, "gripper.pos": 1.6}}, {"t": 0.6003, "i": 13, "pos": {"shoulder_pan.pos": -6.7, "shoulder_lift.pos": -99.1, "elbow_flex.pos": 93.4, "wrist_flex.pos": 59.3, "wrist_roll.pos": 8.9, "gripper.pos": 1.6}}, {"t": 0.6445, "i": 14, "pos": {"shoulder_pan.pos": -11.7, "shoulder_lift.pos": -99.0, "elbow_flex.pos": 90.1, "wrist_flex.pos": 62.0, "wrist_roll.pos": 10.5, "gripper.pos": 1.6}}, {"t": 0.6895, "i": 15, "pos": {"shoulder_pan.pos": -14.7, "shoulder_lift.pos": -98.9, "elbow_flex.pos": 88.1, "wrist_flex.pos": 63.7, "wrist_roll.pos": 11.2, "gripper.pos": 1.6}}, {"t": 0.7386, "i": 16, "pos": {"shoulder_pan.pos": -17.8, "shoulder_lift.pos": -98.8, "elbow_flex.pos": 86.2, "wrist_flex.pos": 65.7, "wrist_roll.pos": 11.7, "gripper.pos": 1.6}}, {"t": 0.7887, "i": 17, "pos": {"shoulder_pan.pos": -23.6, "shoulder_lift.pos": -98.8, "elbow_flex.pos": 82.8, "wrist_flex.pos": 70.0, "wrist_roll.pos": 12.9, "gripper.pos": 1.6}}, {"t": 0.8343, "i": 18, "pos": {"shoulder_pan.pos": -26.1, "shoulder_lift.pos": -98.8, "elbow_flex.pos": 81.8, "wrist_flex.pos": 71.2, "wrist_roll.pos": 13.4, "gripper.pos": 1.6}}, {"t": 0.8804, "i": 19, "pos": {"shoulder_pan.pos": -30.0, "shoulder_lift.pos": -98.7, "elbow_flex.pos": 81.1, "wrist_flex.pos": 72.7, "wrist_roll.pos": 14.3, "gripper.pos": 1.6}}, {"t": 0.924, "i": 20, "pos": {"shoulder_pan.pos": -31.7, "shoulder_lift.pos": -98.3, "elbow_flex.pos": 80.9, "wrist_flex.pos": 73.1, "wrist_roll.pos": 14.8, "gripper.pos": 1.6}}, {"t": 0.9671, "i": 21, "pos": {"shoulder_pan.pos": -33.6, "shoulder_lift.pos": -97.5, "elbow_flex.pos": 80.7, "wrist_flex.pos": 73.4, "wrist_roll.pos": 15.2, "gripper.pos": 1.6}}, {"t": 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