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so101_flip_cup / episode_0034 /servo_data.json
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{"task": "Flip cup upside down", "fps": 30, "frames": [{"t": 0.0205, "i": 0, "pos": {"shoulder_pan.pos": -4.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 74.3, "wrist_roll.pos": 1.9, "gripper.pos": 0.6}}, {"t": 0.066, "i": 1, "pos": {"shoulder_pan.pos": -4.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 74.3, "wrist_roll.pos": 1.9, "gripper.pos": 0.6}}, {"t": 0.1142, "i": 2, "pos": {"shoulder_pan.pos": -4.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 74.3, "wrist_roll.pos": 1.9, "gripper.pos": 0.6}}, {"t": 0.1634, "i": 3, "pos": {"shoulder_pan.pos": -4.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 74.3, "wrist_roll.pos": 1.9, "gripper.pos": 0.6}}, {"t": 0.208, "i": 4, "pos": {"shoulder_pan.pos": -4.1, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 74.3, "wrist_roll.pos": 1.9, "gripper.pos": 0.9}}, {"t": 0.2515, "i": 5, "pos": {"shoulder_pan.pos": -4.1, 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