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so101_flip_cup / episode_0035 /servo_data.json
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{"task": "Flip cup upside down", "fps": 30, "frames": [{"t": 0.0148, "i": 0, "pos": {"shoulder_pan.pos": -6.4, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 92.5, "wrist_flex.pos": 74.4, "wrist_roll.pos": -6.2, "gripper.pos": 1.6}}, {"t": 0.0617, "i": 1, "pos": {"shoulder_pan.pos": -6.4, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 92.5, "wrist_flex.pos": 74.4, "wrist_roll.pos": -6.2, "gripper.pos": 1.6}}, {"t": 0.1055, "i": 2, "pos": {"shoulder_pan.pos": -6.4, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 92.5, "wrist_flex.pos": 74.4, "wrist_roll.pos": -6.2, "gripper.pos": 1.6}}, {"t": 0.1484, "i": 3, "pos": {"shoulder_pan.pos": -6.4, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 92.5, "wrist_flex.pos": 74.4, "wrist_roll.pos": -6.2, "gripper.pos": 1.6}}, {"t": 0.1944, "i": 4, "pos": {"shoulder_pan.pos": -6.4, "shoulder_lift.pos": -99.3, "elbow_flex.pos": 92.5, "wrist_flex.pos": 74.4, "wrist_roll.pos": -6.2, "gripper.pos": 1.6}}, {"t": 0.2408, "i": 5, "pos": {"shoulder_pan.pos": -6.4, 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