diff --git a/episode_0011/servo_data.json b/episode_0011/servo_data.json
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+{"task": "Flip cup upside down", "fps": 30, "frames": [{"t": 0.0226, "i": 0, "pos": {"shoulder_pan.pos": -5.8, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 73.9, "wrist_roll.pos": 0.3, "gripper.pos": 0.1}}, {"t": 0.0722, "i": 1, "pos": {"shoulder_pan.pos": -6.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 73.9, "wrist_roll.pos": 0.4, "gripper.pos": 0.1}}, {"t": 0.1179, "i": 2, "pos": {"shoulder_pan.pos": -6.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 73.9, "wrist_roll.pos": 0.4, "gripper.pos": 0.1}}, {"t": 0.1619, "i": 3, "pos": {"shoulder_pan.pos": -6.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 73.9, "wrist_roll.pos": 0.4, "gripper.pos": 0.1}}, {"t": 0.2122, "i": 4, "pos": {"shoulder_pan.pos": -6.0, "shoulder_lift.pos": -99.2, "elbow_flex.pos": 92.5, "wrist_flex.pos": 73.9, "wrist_roll.pos": 0.4, "gripper.pos": 0.1}}, {"t": 0.2617, "i": 5, "pos": {"shoulder_pan.pos": -6.0, 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{"shoulder_pan.pos": -4.1, "shoulder_lift.pos": -98.3, "elbow_flex.pos": 85.3, "wrist_flex.pos": 57.0, "wrist_roll.pos": 15.1, "gripper.pos": 0.1}}, {"t": 1.0912, "i": 23, "pos": {"shoulder_pan.pos": -2.1, "shoulder_lift.pos": -98.2, "elbow_flex.pos": 82.5, "wrist_flex.pos": 57.3, "wrist_roll.pos": 16.3, "gripper.pos": 0.1}}, {"t": 1.1398, "i": 24, "pos": {"shoulder_pan.pos": 2.2, "shoulder_lift.pos": -98.1, "elbow_flex.pos": 77.0, "wrist_flex.pos": 57.4, "wrist_roll.pos": 17.8, "gripper.pos": 0.1}}, {"t": 1.1839, "i": 25, "pos": {"shoulder_pan.pos": 4.5, "shoulder_lift.pos": -97.7, "elbow_flex.pos": 74.5, "wrist_flex.pos": 57.4, "wrist_roll.pos": 18.2, "gripper.pos": 0.1}}, {"t": 1.2294, "i": 26, "pos": {"shoulder_pan.pos": 6.5, "shoulder_lift.pos": -96.2, "elbow_flex.pos": 71.9, "wrist_flex.pos": 57.4, "wrist_roll.pos": 18.7, "gripper.pos": 0.1}}, {"t": 1.2812, "i": 27, "pos": {"shoulder_pan.pos": 8.3, "shoulder_lift.pos": -93.8, "elbow_flex.pos": 69.1, "wrist_flex.pos": 57.5, 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